scholarly journals Laboratory experiments and simulations for solitary internal waves with trapped cores

2014 ◽  
Vol 757 ◽  
pp. 354-380 ◽  
Author(s):  
Paolo Luzzatto-Fegiz ◽  
Karl R. Helfrich

AbstractWe perform simultaneous coplanar measurements of velocity and density in solitary internal waves with trapped cores, as well as viscous numerical simulations. Our set-up comprises a thin stratified layer (approximately 15 % of the overall fluid depth) overlaying a deep homogeneous layer. We consider waves propagating near a free surface, as well as near a rigid no-slip lid. In the free-surface case, all trapped-core waves exhibit a strong shear instability. We propose that Marangoni effects are responsible for this instability, and use our velocity measurements to perform quantitative calculations supporting this hypothesis. These surface-tension effects appear to be difficult to avoid at the experimental scale. By contrast, our experiments with a no-slip lid yield robust waves with large cores. In order to consider larger-amplitude waves, we complement our experiments with viscous numerical simulations, employing a longer virtual tank. Where overlap exists, our experiments and simulations are in good agreement. In order to provide a robust definition of the trapped core, we propose bounding it as a Lagrangian coherent structure (instead of using a closed streamline, as has been done traditionally). This construction is less sensitive to small errors in the velocity field, and to small three-dimensional effects. In order to retain only flows near equilibrium, we introduce a steadiness criterion, based on the rate of change of the density in the core. We use this criterion to successfully select within our experiments and simulations a family of quasi-steady robust flows that exhibit good collapse in their properties. The core circulation is small (at most, around 10 % of the baroclinic wave circulation). The core density is essentially uniform; the standard deviation of the density, in the core region, is less than 4 % of the full density range. We also calculate the circulation, kinetic energy and available potential energy of these waves. We find that these results are consistent with predictions from Dubreil-Jacotin–Long theory for waves with a uniform-density irrotational core, except for an offset, which we suggest is associated with viscous effects. Finally, by computing Richardson-number fields, and performing a temporal stability analysis based on the Taylor–Goldstein equation, we show that our results are consistent with empirical stability criteria in the literature.

2021 ◽  
Vol 3 (9) ◽  
Author(s):  
Mohammadreza Kasaei ◽  
Ali Ahmadi ◽  
Nuno Lau ◽  
Artur Pereira

AbstractBiped robots are inherently unstable because of their complex kinematics as well as dynamics. Despite many research efforts in developing biped locomotion, the performance of biped locomotion is still far from the expectations. This paper proposes a model-based framework to generate stable biped locomotion. The core of this framework is an abstract dynamics model which is composed of three masses to consider the dynamics of stance leg, torso, and swing leg for minimizing the tracking problems. According to this dynamics model, we propose a modular walking reference trajectories planner which takes into account obstacles to plan all the references. Moreover, this dynamics model is used to formulate the controller as a Model Predictive Control (MPC) scheme which can consider some constraints in the states of the system, inputs, outputs, and also mixed input-output. The performance and the robustness of the proposed framework are validated by performing several numerical simulations using MATLAB. Moreover, the framework is deployed on a simulated torque-controlled humanoid to verify its performance and robustness. The simulation results show that the proposed framework is capable of generating biped locomotion robustly.


2001 ◽  
Vol 428 ◽  
pp. 349-386 ◽  
Author(s):  
E. J. STRANG ◽  
H. J. S. FERNANDO

The results of a laboratory experiment designed to study turbulent entrainment at sheared density interfaces are described. A stratified shear layer, across which a velocity difference ΔU and buoyancy difference Δb is imposed, separates a lighter upper turbulent layer of depth D from a quiescent, deep lower layer which is either homogeneous (two-layer case) or linearly stratified with a buoyancy frequency N (linearly stratified case). In the parameter ranges investigated the flow is mainly determined by two parameters: the bulk Richardson number RiB = ΔbD/ΔU2 and the frequency ratio fN = ND=ΔU.When RiB > 1.5, there is a growing significance of buoyancy effects upon the entrainment process; it is observed that interfacial instabilities locally mix heavy and light fluid layers, and thus facilitate the less energetic mixed-layer turbulent eddies in scouring the interface and lifting partially mixed fluid. The nature of the instability is dependent on RiB, or a related parameter, the local gradient Richardson number Rig = N2L/ (∂u/∂z)2, where NL is the local buoyancy frequency, u is the local streamwise velocity and z is the vertical coordinate. The transition from the Kelvin–Helmholtz (K-H) instability dominated regime to a second shear instability, namely growing Hölmböe waves, occurs through a transitional regime 3.2 < RiB < 5.8. The K-H activity completely subsided beyond RiB ∼ 5 or Rig ∼ 1. The transition period 3.2 < RiB < 5 was characterized by the presence of both K-H billows and wave-like features, interacting with each other while breaking and causing intense mixing. The flux Richardson number Rif or the mixing efficiency peaked during this transition period, with a maximum of Rif ∼ 0.4 at RiB ∼ 5 or Rig ∼ 1. The interface at 5 < RiB < 5.8 was dominated by ‘asymmetric’ interfacial waves, which gradually transitioned to (symmetric) Hölmböe waves at RiB > 5:8.Laser-induced fluorescence measurements of both the interfacial buoyancy flux and the entrainment rate showed a large disparity (as large as 50%) between the two-layer and the linearly stratified cases in the range 1.5 < RiB < 5. In particular, the buoyancy flux (and the entrainment rate) was higher when internal waves were not permitted to propagate into the deep layer, in which case more energy was available for interfacial mixing. When the lower layer was linearly stratified, the internal waves appeared to be excited by an ‘interfacial swelling’ phenomenon, characterized by the recurrence of groups or packets of K-H billows, their degeneration into turbulence and subsequent mixing, interfacial thickening and scouring of the thickened interface by turbulent eddies.Estimation of the turbulent kinetic energy (TKE) budget in the interfacial zone for the two-layer case based on the parameter α, where α = (−B + ε)/P, indicated an approximate balance (α ∼ 1) between the shear production P, buoyancy flux B and the dissipation rate ε, except in the range RiB < 5 where K-H driven mixing was active.


Author(s):  
Callum J. Shakespeare ◽  
Brian K. Arbic ◽  
Andrew McC. Hogg

AbstractInternal waves generated at the seafloor propagate through the interior of the ocean, driving mixing where they break and dissipate. However, existing theories only describe these waves in two limiting cases. In one limit, the presence of an upper boundary permits bottom-generated waves to reflect from the ocean surface back to the seafloor, and all the energy flux is at discrete wavenumbers corresponding to resonant modes. In the other limit, waves are strongly dissipated such that they do not interact with the upper boundary and the energy flux is continuous over wavenumber. Here, a novel linear theory is developed for internal tides and lee waves that spans the parameter space in between these two limits. The linear theory is compared with a set of numerical simulations of internal tide and lee wave generation at realistic abyssal hill topography. The linear theory is able to replicate the spatially-averaged kinetic energy and dissipation of even highly non-linear wave fields in the numerical simulations via an appropriate choice of the linear dissipation operator, which represents turbulent wave breaking processes.


2006 ◽  
Vol 18 (7) ◽  
pp. 076603 ◽  
Author(s):  
S. K. Venayagamoorthy ◽  
O. B. Fringer

2001 ◽  
Vol 429 ◽  
pp. 343-380 ◽  
Author(s):  
BRUCE R. SUTHERLAND

The evolution and stability of two-dimensional, large-amplitude, non-hydrostatic internal wavepackets are examined analytically and by numerical simulations. The weakly nonlinear dispersion relation for horizontally periodic, vertically compact internal waves is derived and the results are applied to assess the stability of weakly nonlinear wavepackets to vertical modulations. In terms of Θ, the angle that lines of constant phase make with the vertical, the wavepackets are predicted to be unstable if [mid ]Θ[mid ] < Θc, where Θc = cos−1 (2/3)1/2 ≃ 35.3° is the angle corresponding to internal waves with the fastest vertical group velocity. Fully nonlinear numerical simulations of finite-amplitude wavepackets confirm this prediction: the amplitude of wavepackets with [mid ]Θ[mid ] > Θc decreases over time; the amplitude of wavepackets with [mid ]Θ[mid ] < Θc increases initially, but then decreases as the wavepacket subdivides into a wave train, following the well-known Fermi–Pasta–Ulam recurrence phenomenon.If the initial wavepacket is of sufficiently large amplitude, it becomes unstable in the sense that eventually it convectively overturns. Two new analytic conditions for the stability of quasi-plane large-amplitude internal waves are proposed. These are qualitatively and quantitatively different from the parametric instability of plane periodic internal waves. The ‘breaking condition’ requires not only that the wave is statically unstable but that the convective instability growth rate is greater than the frequency of the waves. The critical amplitude for breaking to occur is found to be ACV = cot Θ (1 + cos2 Θ)/2π, where ACV is the ratio of the maximum vertical displacement of the wave to its horizontal wavelength. A second instability condition proposes that a statically stable wavepacket may evolve so that it becomes convectively unstable due to resonant interactions between the waves and the wave-induced mean flow. This hypothesis is based on the assumption that the resonant long wave–short wave interaction, which Grimshaw (1977) has shown amplifies the waves linearly in time, continues to amplify the waves in the fully nonlinear regime. Using linear theory estimates, the critical amplitude for instability is ASA = sin 2Θ/(8π2)1/2. The results of numerical simulations of horizontally periodic, vertically compact wavepackets show excellent agreement with this latter stability condition. However, for wavepackets with horizontal extent comparable with the horizontal wavelength, the wavepacket is found to be stable at larger amplitudes than predicted if Θ [lsim ] 45°. It is proposed that these results may explain why internal waves generated by turbulence in laboratory experiments are often observed to be excited within a narrow frequency band corresponding to Θ less than approximately 45°.


1969 ◽  
Vol 1 (1) ◽  
pp. 29-46 ◽  
Author(s):  
D. G. Hurley ◽  
J. Imberger

Consider a stably stratified liquid, whose density varies exponentially with the vertical co-ordinate, that is bounded above by a free surface and below by a bed whose height depends on only one of the horizontal co-ordinates. Suppose that a gravity wave, that may be either a surface or an internal one, is travelling in a direction normal to the lines of constant depth. It is shown that if the frequency is below a certain value an infinite number of waves, all of the same frequency but having differing wave lengths, are generated and expressions for their amplitude are given in terms of the changes in depth which are assumed to be small.


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