The flapping of flags is a classical problem involving fast and large amplitude deformations of a thin flexible plate and unsteady flow phenomena. We perform systematic time and space-resolved measurements of the deformation and drag acting on flapping flags for various aspect ratios and mass ratios. Bending waves travel from the root to the tip at a speed close to the incoming flow and the typical wavelength of the waves scales with the length of the flag. With smaller aspect ratio, the local dynamic pressure exerted by the fluid on the flag is reduced, lowering the wave propagation speed, and reducing the tip frequency. The effect of aspect ratio on the vortex formation in the near wake is analysed using flow field measurements. We identified two characteristic length scales, the ratio of the flag area over its perimeter $L^*$ and the square root of area $\sqrt{HL}$ that scale the circulation shed during a cycle. Changes in aspect ratio and mass ratio generate a wide scattering of the mean drag coefficient, ranging from 0 to 0.55. We discuss a kinematic-based model for the mean drag coefficient. This model uses the mass ratio and the typical tip speed, which depends linearly on the wave speeds, to predict the mean drag coefficient without any fitting parameter.
We study experimentally the vortex streets produced by a flapping foil in a hydrodynamic tunnel, using 2D Particle Image Velocimetry (PIV). An analysis in terms of a flapping frequency-amplitude phase space allows to identify: 1) the transition from the well-known Bénard-von Kármán (BvK) wake to the reverse BvK vortex street that characterizes propulsive wakes, and 2) the symmetry breaking of this reverse BvK pattern giving rise to an asymmetric wake. We also show that the transition from a BvK wake to a reverse BvK wake precedes the actual drag-thrust transition and we discuss the significanc…
The wake of a flexible foil undergoing pitching oscillations in a low-speed hydrodynamic tunnel is used to examine the effect of chord-wise foil flexibility in the dynamical features of flapping-based propulsion. We compare the regime transitions in the wake with respect to the case of a rigid foil and show that foil flexibility inhibits the symmetry breaking of the reverse Bénard-von Kármán wake reported in the literature. A momentum balance calculation shows the average thrust to be up to three times greater for the flexible foil than for the rigid foil. We explain both of these observations…
Reversed von Kármán streets are responsible for a velocity surplus in the wake of flapping foils, indicating the onset of thrust generation. However, the wake pattern cannot be predicted based solely on the flapping peak-to-peak amplitude $A$ and frequency $f$ because the transition also depends sensitively on other details of the kinematics. In this work we replace $A$ with the cycle-averaged swept trajectory $\mathcal{T}$ of the foil chord-line. Two dimensional simulations are performed for pure heave, pure pitch and a variety of heave-to-pitch coupling. In a phase space of dimensionless $\m…
Symmetric flapping foils are known to produce deflected jets at high frequency-amplitude combinations even at a zero mean angle of attack. This reduces the frequency range of useful propulsive configurations without side force. In this study, we numerically analyse the interaction of these deflected jets for tandem flapping foils undergoing coupled heave to pitch motion in a two dimensional domain. The impact of the flapping Strouhal number, foil spacing and phasing on wake interaction is investigated. Our primary finding is that the back foil is capable of cancelling the wake deflection and m…
Using nonlinear vortex-sheet simulations, we determine the region in parameter space in which a straight flag in a channel-bounded inviscid flow is unstable to flapping motions. We find that for heavier flags, greater confinement increases the size of the region of instability. For lighter flags, confinement has little influence. We then compute the stability boundaries analytically for an infinite flag, and find similar results. For the finite flag we also consider the effect of channel walls on the large-amplitude periodic flapping dynamics. We find that multiple flapping states are possible…
An inverted flag has its trailing edge clamped and exhibits dynamics distinct from that of a conventional flag, whose leading edge is restrained. We perform nonlinear simulations and a global stability analysis of the inverted-flag system for a range of Reynolds numbers, flag masses and stiffnesses. Our global stability analysis is based on a linearisation of the fully-coupled fluid-structure system of equations. The calculated equilibria are steady-state solutions of the fully-coupled nonlinear equations. By implementing this approach, we (i) explore the mechanisms that initiate flapping, (ii…
Modal decompositions such as proper orthogonal decomposition (POD), dynamic mode decomposition (DMD) and their variants are regularly used to educe physical mechanisms of nonlinear flow phenomena that cannot be easily understood through direct inspection. In fluid-structure interaction (FSI) systems, fluid motion is coupled to vibration and/or deformation of an immersed structure. Despite this coupling, data analysis is often performed using only fluid or structure variables, rather than incorporating both. This approach does not provide information about the manner in which fluid and structur…
There have been many studies of the instability of a flexible plate or flag to flapping motions, and of large-amplitude flapping. Here we use inviscid simulations and a linearized model to study more generally how key quantities -- mode number (or wavenumber), frequency, and amplitude -- depend on the two dimensionless parameters, flag mass and bending stiffness. In the limit of small flag mass, flags perform traveling wave motions that move at nearly the speed of the oncoming flow. The flag mode number scales as the -1/4 power of bending stiffness. The flapping frequency has the same scaling,…
The stability of a cantilevered elastic sheet in a uniform flow has been studied extensively due to its importance in engineering and its prevalence in natural structures. Varying the flow speed can give rise to a range of dynamics including limit cycle behaviour and chaotic motion of the cantilevered sheet. Recently, the "inverted flag" configuration - a cantilevered elastic sheet aligned with the flow impinging on its free edge - has been observed to produce large-amplitude flapping over a finite band of flow speeds. This flapping phenomenon has been found to be a vortex-induced vibration, a…
We perform high-fidelity, two-dimensional (2D), fluid-structure interaction (FSI) simulations at a Reynolds number of $Re=200$ of uniform flow past an inverted flag (i.e., clamped at its trailing edge). The inverted flag system can exhibit large-amplitude flapping motions (on the order of the flag length) that can be converted to electricity via, e.g., piezoelectric materials. We investigate the effect of structural nonuniformity in altering the FSI dynamics compared with the uniform-stiffness scenario that has been thoroughly characterized. We consider linear, quadratic, and cubic stiffness d…
The two dimensional incompressible viscous flow past a flapping foil immersed in a uniform stream is studied numerically. Numerical simulations were performed using a Lattice-Boltzmann model for moderate Reynolds numbers. The computation of the hydrodynamic force on the foil is related to the the wake structure. In particular, when the foil's centre of mass is fixed in space, numerical results suggest a relation between drag coefficient behaviour and the flapping frequency which determines the transition from the von Kármán (vKm) to the inverted von Kármán wake. Beyond the inverted vKm transit…
A fully-resolved direct-numerical-simulation (DNS) approach for investigating flexible bodies forced by a turbulent incoming flow is designed to study the flapping motion of a flexible flag at moderate Reynolds number. The incoming turbulent flow is generated by placing a passive grid at the inlet of the numerical domain and the turbulence level of the flow impacting the flag can be controlled by changing its downstream distance from the grid. The computational framework is based on the immersed boundary method for dealing with arbitrary geometries and implemented using a graphics-processing-u…
We give an explanation for the onset of wind-induced flutter in a flag. Our theory accounts for the various physical mechanisms at work: the finite length and the small but finite bending stiffness of the flag, the unsteadiness of the flow, the added mass effect and vortex shedding from the trailing edge. Our analysis allows us to predict a critical speed for the onset of flapping as well as the frequency of flapping. We find that in a particular limit corresponding to a low density fluid flowing over a soft high density flag, the flapping instability is akin to a resonance between the mode of…
The mechanisms associated with an owls ability to fly silently have been the subject of scientific interest for many decades and a source of inspiration in the context of reducing noise in both flapping and non-flapping flight. Here, we characterize the near wake dynamics and associated flow structures that are produced by flying owls. The goal is to shed light on unique flow features that result from the owls wing morphology and its motion during forward flapping flight. We study the wake of the southern boobook owl (Ninox boobook); a mid-sized owl, which shares the common feature of stealthy…
We present a fluid dynamics video showing simulations of flexible bodies flapping and falling in an inviscid fluid. Vortex sheets are shed from the trailing edges of the bodies according to the Kutta condition. For interacting flags, a sampling of synchronous and asynchronous states are shown. For falling flexible sheets, the basic behavior is a repeated series of accelerations to a critical speed at which the sheet buckles, and rapidly decelerates, shedding large vortices. Examples of persistent circling, quasi-periodic flapping, and more complex trajectories are shown.
In this study, we present two and three-dimensional numerical investigation to understand the combined effects of the non-dimensional heave amplitude varying from 0 to 1 and the pitch amplitude ranging from 0 to 30 on the propulsive performance for a single and tandem foil system at Reynolds number 1100 and reduced frequency 0.2. We initially present a systematic analysis on the thrust generation due to the kinematic parameters for a single foil. The significance of effective angle of attack and the projected area of the foil has been emphasized in explaining the dynamics of lift and drag forc…
A flexible foil undergoing pitching oscillations is studied experimentally in a wind tunnel with different imposed free stream velocities. The chord-based Reynolds number is in the range 1600--4000, such that the dynamics of the system is governed by inertial forces and the wake behind the foil exhibits the reverse Bénard-von Kármán vortex street characteristic of flapping-based propulsion. Particle Image Velocimetry (PIV) measurements are performed to examine the flow around the foil, whilst the deformation of the foil is also tracked. The first natural frequency of vibration of the foil is w…
The spontaneous flapping of a flag can be used to produce electrical energy from a fluid flow when coupled to a generator. In this paper, the energy harvesting performance of a flag covered by a single pair of PVDF piezoelectric electrodes is studied both experimentally and numerically. The electrodes are connected to a resistive-inductive circuit that forms a resonant circuit with the piezoelectric's intrinsic capacitance. Compared with purely resistive circuits, the resonance between the circuit and the flag's flapping motion leads to a significant increase in the harvested energy. Our exper…
We show how phasing between tandem bioinspired fins flapping at high-stroke amplitudes modulates rear fin thrust production and wake characteristics. Load cell thrust measurements show that the rear fin generates 25% more thrust than the front fin when it lags the latter by a quarter cycle, and performs 8% worse when it leads the front fin by the same amount. The flow interactions between the fins responsible for these observations are analyzed using two-dimensional particle image velocimetry measurements and three-dimensional computational fluid dynamics simulations. Distributions of velocity…
Wing flapping is one of the most widespread propulsion methods found in nature; however, the current understanding of the aerodynamics in bird wakes is incomplete. The role of the unsteady motion in the flow and its contribution to the aerodynamics is still an open question. In the current study, the wake of a freely flying European starling has been investigated using long-duration high-speed Particle Image Velocimetry (PIV) in the near wake. Kinematic analysis of the wings and body of the bird has been performed using additional high-speed cameras that recorded the bird movement simultaneous…
In this work, we describe the impact of aspect ratio (AR) on the performance of optimally phased, identical flapping flippers in a tandem configuration. Three-dimensional simulations are performed for seven sets of single and tandem finite foils at a moderate Reynolds number, with thrust producing, heave-to-pitch coupled kinematics. Increasing slenderness (or aspect ratio - AR) is found to improve thrust coefficients and thrust augmentation but the benefits level off towards higher values of AR. On the other hand, the propulsive efficiency shows no significant change with increasing AR, while …
Machine learning techniques have received attention in fluid dynamics in terms of predicting, clustering and classifying complex flow physics. One application has been the classification or clustering of various wake structures that emanate from bluff bodies such as cylinders or flapping foils, creating a rich diversity of vortex formations specific to flow conditions, geometry, and/or kinematics of the body. When utilizing oscillating foils to harvest energy from tidal or river flows, it is critical to understand the intricate and nonlinear relationship between flapping kinematics and the dow…
Fish schools are ubiquitous in marine life. Although flow interactions are thought to be beneficial for schooling, their exact effects on the speed, energetics, and stability of the group remain elusive. Recent experiments suggest that flow interactions stabilize in-tandem formations of heaving foils. Here, we propose a minimal approach based on the vortex sheet model that captures salient features of the flow interactions among flapping swimmers, and we study the free swimming of a pair of in-line swimmers driven with identical heaving or pitching motions. We find that, independent of the fla…
Linear stability analysis of an elastically anchored wing in a uniform flow is investigated both analytically and numerically. The analytical formulation explicitly takes into account the effect of the wake on the wing by means of Theodorsen's theory. Three different parameters non-trivially rule the observed dynamics: mass density ratio between wing and fluid, spring elastic constant and distance between the wing center of mass and the spring anchor point on the wing. We found relationships between these parameters which rule the transition between stable equilibrium and fluttering. The shape…
The flapping flag instability occurs when a flexible cantilevered plate is immersed in a uniform airflow. To this day, the nonlinear aspects of this aeroelastic instability are largely unknown. In particular, experiments in the literature all report a large hysteresis loop, while the bifurcation in numerical simulations is either supercritical or subcritical with a small hysteresis loop. In this paper, this discrepancy is addressed. First weakly nonlinear stability analyses are conducted in the slender-body and two-dimensional limits, and second new experiments are performed with flat and curv…
The spontaneous flapping of a flag in a steady flow can be used to power an output circuit using piezoelectric elements positioned at its surface. Here, we study numerically the effect of inductive circuits on the dynamics of this fluid-solid-electric system and on its energy harvesting efficiency. In particular, a destabilization of the system is identified leading to energy harvesting at lower flow velocities. Also, a frequency lock-in between the flag and the circuit is shown to significantly enhance the system's harvesting efficiency. These results suggest promising efficiency enhancements…
The interactions and synchronization of two parallel and slender flags in a uniform axial flow are studied in the present paper by generalizing Lighthill's Elongated Body Theory (EBT) and Lighthill's Large Amplitude Elongated Body Theory (LAEBT) to account for the hydrodynamic coupling between flags. The proposed method consists in two successive steps, namely the reconstruction of the flow created by a flapping flag within the LAEBT framework and the computation of the fluid force generated by this nonuniform flow on the second flag. In the limit of slender flags in close proximity, we show t…
The wake of a SAE squareback vehicle model is studied both experimentally and numerically for a Reynolds-number of $ Re_h = 1.0 \hspace{5pt} 10^6 $.The investigation focuses on the coherent structures of the intermediate to largest length and time scales. Flow field as well as base pressure fields are observed for the understanding of the relation between the signals of these quantities. Generalizations and differentiations are made by comparison with the documented behavior of Ahmed or similar vehicle models or three-dimensional bluff bodies. In comparison the vortex shedding acts similar but…
The dynamics of a cantilever plate clamped at its trailing edge and placed at a moderate angle ($α\leq 30^{\circ}$) to a uniform flow are investigated experimentally and numerically, and a large experimental data set is provided. The dynamics are shown to differ significantly from the zero-angle-of-attack case, commonly called the inverted-flag configuration. Four distinct dynamical regimes arise at finite angles: a small oscillation around a small-deflection equilibrium (deformed regime), a small-amplitude flapping motion, a large-amplitude flapping motion and a small oscillation around a lar…
The fluid-solid-electric dynamics of a flexible plate covered by interconnected piezoelectric patches in an axial steady flow are investigated using numerical simulations based on a reduced-order model of the fluid loading for slender structures. Beyond a critical flow velocity, the fluid-solid instability results in large amplitude flapping of the structure. Short piezoelectric patches positioned continuously along the plate convert its local deformation into electrical currents that are used within a single internal electrical network acting as an electric generator for the external output c…
The transonic flight regime is often dominated by transonic buffet, a highly unsteady and complex shock-wave/boundary-layer interaction involving major parts of the flow field. The phenomenon is associated with a large-amplitude periodic motion of the compression shock coupled with large-scale flow separation and intermittent re-attachment. Due to the resulting large-scale variation of the global flow topology, also the turbulent wake of the airfoil or wing is severely affected, and so are any aerodynamic devices downstream on which the wake impinges. To analyze and understand the turbulent st…
The influence of the bending rigidity of a flexible heaving wing on its propulsive performance in a two-dimensional imposed parallel flow is investigated in the inviscid limit. Potential flow theory is used to describe the flow over the flapping wing. The vortical wake of the wing is accounted for by the shedding of point vortices with unsteady intensity from the wing's trailing edge. The trailing-edge flapping amplitude is shown to be maximal for a discrete set of values of the rigidity, at which a resonance occurs between the forcing frequency and a natural frequency of the system. A quantit…
We study the propulsive properties of rectangular and rhombic lattices of flapping plates at O(10--100) Reynolds numbers in incompressible flow. We vary five parameters: flapping amplitude, frequency (or Reynolds number), horizontal and vertical spacings between plates, and oncoming fluid stream velocity. Lattices that are closely spaced in the streamwise direction produce intense vortex dipoles between adjacent plates. The lattices transition sharply from drag- to thrust-producing as these dipoles switch from upstream to downstream orientations at critical flow speeds. Near these transitions …
Large Eddy Simulation (LES) with dynamic sub-grid scale eddy viscosity model has been applied to numerically investigate the evolution of complicated flow structures in supersonic base flow with mass bleed. Mean flow properties obtained from numerical simulations, such as axial velocity, pressure on the base surface, have been compared with the experimental measurements to show that LES is able to predict the mean flow properties with acceptable accuracy. The data obtained from LES has been further analyzed to understand the evolution of coherent structures in the flow field. Periodical sheddi…
The hydrodynamic influence of surface texture on static surfaces ranges from large drag penalties (roughness) to potential performance benefits (shark-like skin). Although, it is of wide-ranging research interest, the impact of roughness on flapping systems has received limited attention. In this work, we explore the effect of roughness on unsteady performance of a harmonically pitching foil through experiments using foils with different surface roughness, at a fixed Strouhal number and within the Reynolds number (Re) range of 15k-30k. The foils' surface roughness is altered by changing the di…
This article reports on a full replication study in computational fluid dynamics, using an immersed boundary method to obtain the flow around a pitching and rolling elliptical wing. As in the original study, the computational experiments investigate the wake topology and aerodynamic forces, looking at the effect of: Reynolds number (100--400), Strouhal number (0.4--1.2), aspect ratio, and rolling/pitching phase difference. We also include a grid-independence study (from 5 to 72 million grid cells). The trends in aerodynamic performance and the characteristics of the wake topology were replicat…
Self-sustained oscillations resulting from fluid-solid instabilities, such as the flutter of a flexible flag in axial flow, can be used to harvest energy if one is able to convert the solid energy into electricity. Here, this is achieved using piezoelectric patches attached to the surface of the flag that convert the solid deformation into an electric current powering purely resistive output circuits. Nonlinear numerical simulations in the slender-body limit, based on an explicit description of the coupling between the fluid-solid and electric systems, are used to determine the harvesting effi…
Experiments are reported on the performance of a pitching and heaving two-dimensional foil in a water channel in either continuous or intermittent motion. We find that the thrust and power are independent of the mean freestream velocity for two-fold changes in the mean velocity (four-fold in the dynamic pressure), and for oscillations in the velocity up to 38\% of the mean, where the oscillations are intended to mimic those of freely swimming motions where the thrust varies during the flapping cycle. We demonstrate that the correct velocity scale is not the flow velocity but the mean velocity …
The Dynamic Mode Decomposition (DMD) is a Koopman-based algorithm that straightforwardly isolates individual mechanisms from the compound morphology of direct measurement. However, many may be perplexed by the messages the DMD structures carry. This work investigates the modal implications of the DMD/Koopman modes through the prototypical subcritical free-shear flow over a square prism. It selected and analysed the fluid mechanics and phenomenology of the ten most dominant modes. The results showed that the reduced-order description is morphologically accurate and physically insightful. Mode 1…
Stanford University（斯坦福大学）；California Institute of Technology（加州理工学院）
Wind energy resource quantification, air pollution monitoring, and weather forecasting all rely on rapid, accurate measurement of local wind conditions. Visual observations of the effects of wind---the swaying of trees and flapping of flags, for example---encode information regarding local wind conditions that can potentially be leveraged for visual anemometry that is inexpensive and ubiquitous. Here, we demonstrate a coupled convolutional neural network and recurrent neural network architecture that extracts the wind speed encoded in visually recorded flow-structure interactions of a flag and…
We propose a data-driven algorithm for reconstructing the irregular, chaotic flow dynamics around two side-by-side square cylinders from sparse, time-resolved, velocity measurements in the wake. We use Proper Orthogonal Decomposition (POD) to reduce the dimensionality of the problem and then explore two different reconstruction approaches: in the first approach, we use the subspace system identification algorithm n4sid to extract a linear dynamical model directly from the data (including the modelling and measurement error covariance matrices) and then employ Kalman filter theory to synthesize…
This paper deals with the investigation of flow field due to clap and fling mechanism using immersed boundary coupled with lattice Boltzmann method. The lattice Boltzmann method (LBM), an alternative to Navier Stokes solver, is used because of its simplicity and computational efficiency in solving complex moving boundary problems. Benchmark problems are simulated to validate the code, which is then used for simulating flow over two elliptic wing of aspect ratio 5 performing clap and fling flapping motion for different flow parameters such as Reynolds number (Re = 75,100,150), advance ratio (J …
