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We study the occurrence and dynamics of rogue waves in three-dimensional deep water using phase-resolved numerical simulations based on a high-order spectral (HOS) method. We obtain a large ensemble of nonlinear wave-field simulations ( $M= 3$ in HOS method), initialized by spectral parameters over a broad range, from which nonlinear wave statistics and rogue wave occurrence are investigated. The HOS results are compared to those from the broad-band modified nonlinear Schrödinger (BMNLS) equations. Our results show that for (initially) narrow-band and narrow directional spreading wave fields, modulational instability develops, resulting in non-Gaussian statistics and a probability of rogue wave occurrence that is an order of magnitude higher than linear theory prediction. For longer times, the evolution becomes quasi-stationary with non-Gaussian statistics, a result not predicted by the BMNLS equations (without consideration of dissipation). When waves spread broadly in frequency and direction, the modulational instability effect is reduced, and the statistics and rogue wave probability are qualitatively similar to those from linear theory. To account for the effects of directional spreading on modulational instability, we propose a new modified Benjamin–Feir index for effectively predicting rogue wave occurrence in directional seas. For short-crested seas, the probability of rogue waves based on number frequency is imprecise and problematic. We introduce an area-based probability, which is well defined and convergent for all directional spreading. Based on a large catalogue of simulated rogue wave events, we analyse their geometry using proper orthogonal decomposition (POD). We find that rogue wave profiles containing a single wave can generally be described by a small number of POD modes.

We consider the flapping stability and response of a thin two-dimensional flag of high extensional rigidity and low bending rigidity. The three relevant non-dimensional parameters governing the problem are the structure-to-fluid mass ratio, μ = ρsh/(ρfL); the Reynolds number, Rey = VL/ν; and the non-dimensional bending rigidity, KB = EI/(ρfV2L3). The soft cloth of a flag is represented by very low bending rigidity and the subsequent dominance of flow-induced tension as the main structural restoring force. We first perform linear analysis to help understand the relevant mechanisms of the problem and guide the computational investigation. To study the nonlinear stability and response, we develop a fluid–structure direct simulation (FSDS) capability, coupling a direct numerical simulation of the Navier–Stokes equations to a solver for thin-membrane dynamics of arbitrarily large motion. With the flow grid fitted to the structural boundary, external forcing to the structure is calculated from the boundary fluid dynamics. Using a systematic series of FSDS runs, we pursue a detailed analysis of the response as a function of mass ratio for the case of very low bending rigidity (KB = 10−4) and relatively high Reynolds number (Rey = 103). We discover three distinct regimes of response as a function of mass ratio μ: (I) a small μ regime of fixed-point stability; (II) an intermediate μ regime of period-one limit-cycle flapping with amplitude increasing with increasing μ; and (III) a large μ regime of chaotic flapping. Parametric stability dependencies predicted by the linear analysis are confirmed by the nonlinear FSDS, and hysteresis in stability is explained with a nonlinear softening spring model. The chaotic flapping response shows up as a breaking of the limit cycle by inclusion of the 3/2 superharmonic. This occurs as the increased flapping amplitude yields a flapping Strouhal number (St = 2Af/V) in the neighbourhood of the natural vortex wake Strouhal number, St ≃ 0.2. The limit-cycle von Kármán vortex wake transitions in chaos to a wake with clusters of higher intensity vortices. For the largest mass ratios, strong vortex pairs are distributed away from the wake centreline during intermittent violent snapping events, characterized by rapid changes in tension and dynamic buckling.

Energy consumption is one of the primary considerations in animal locomotion. In swimming locomotion, a number of questions related to swimming energetics of an organism and how the energetic quantities scale with body size remain open, largely due to the difficulties with modeling and measuring the power production and consumption. Based on a comprehensive theoretical framework that incorporates cyclic muscle behavior, structural dynamics and swimming hydrodynamics, we perform extensive computational simulations and show that many of the outstanding problems in swimming energetics can be explained by considering the coupling between hydrodynamics and muscle contraction characteristics, as well as the trade-offs between the conflicting performance goals of sustained swimming speed U and cost of transport COT. Our results lead to three main conclusions: (1) in contrast to previous hypotheses, achieving optimal values of U and COT is independent of producing maximal power or efficiency; (2) muscle efficiency in swimming, in contrast to that in flying or running, decreases with increasing body size, consistent with muscle contraction characteristics; (3) the long-standing problem of two disparate patterns of longitudinal power output distributions in swimming fish can be reconciled by relating the two patterns to U-optimal or COT-optimal swimmers, respectively. We also provide further evidence that the use of tendons in caudal regions is beneficial from an energetic perspective. Our conclusions explain and unify many existing observations and are supported by computational data covering nine orders of magnitude in body size.

Undulatory swimming animals exhibit diverse ranges of body shapes and motion patterns and are often considered as having superior locomotory performance. The extent to which morphological traits of swimming animals have evolved owing to primarily locomotion considerations is, however, not clear. To shed some light on that question, we present here the optimal shape and motion of undulatory swimming organisms obtained by optimizing locomotive performance measures within the framework of a combined hydrodynamical, structural and novel muscular model. We develop a muscular model for periodic muscle contraction which provides relevant kinematic and energetic quantities required to describe swimming. Using an evolutionary algorithm, we performed a multi-objective optimization for achieving maximum sustained swimming speed U and minimum cost of transport (COT)—two conflicting locomotive performance measures that have been conjectured as likely to increase fitness for survival. Starting from an initial population of random characteristics, our results show that, for a range of size scales, fish-like body shapes and motion indeed emerge when U and COT are optimized. Inherent boundary-layer-dependent allometric scaling between body mass and kinematic and energetic quantities of the optimal populations is observed. The trade-off between U and COT affects the geometry, kinematics and energetics of swimming organisms. Our results are corroborated by empirical data from swimming animals over nine orders of magnitude in size, supporting the notion that optimizing U and COT could be the driving force of evolution in many species.

We present high-resolution implicit large eddy simulation (iLES) of the turbulent air-entraining flow in the wake of three-dimensional rectangular dry transom sterns with varying speeds and half-beam-to-draft ratios $B/D$ . We employ two-phase (air/water), time-dependent simulations utilizing conservative volume-of-fluid (cVOF) and boundary data immersion (BDIM) methods to obtain the flow structure and large-scale air entrainment in the wake. We confirm that the convergent-corner-wave region that forms immediately aft of the stern wake is ballistic, thus predictable only by the speed and (rectangular) geometry of the ship. We show that the flow structure in the air–water mixed region contains a shear layer with a streamwise jet and secondary vortex structures due to the presence of the quasi-steady, three-dimensional breaking waves. We apply a Lagrangian cavity identification technique to quantify the air entrainment in the wake and show that the strongest entrainment is where wave breaking occurs. We identify an inverse dependence of the maximum average void fraction and total volume entrained with $B/D$ . We determine that the average surface entrainment rate initially peaks at a location that scales with draft Froude number and that the normalized average air cavity density spectrum has a consistent value providing there is active air entrainment. A small parametric study of the rectangular geometry and stern speed establishes and confirms the scaling of the interface characteristics with draft Froude number and geometry. In Part 2 (Hendrikson & Yue, J. Fluid Mech., vol. 875, 2019, pp. 884–913) we examine the incompressible highly variable density turbulence characteristics and turbulence closure modelling.

The dynamics of the air cavity created by vertical water entry of a three-dimensional body is investigated theoretically, computationally and experimentally. The study is focused in the range of relatively low Froude numbers, Fr ≡ V(gD)−1/2 ≤ O(10) (where V is the dropping velocity of the body, D its characteristic dimension and g the gravitational acceleration), when the inertia and gravity effects are comparable. To understand the physical processes involved in the evolution of cavity, we conduct laboratory experiments of water entry of freely dropping spheres. A matched asymptotic theory for the description of the cavity dynamics is developed based on the slender-body theory in the context of potential flow. Direct comparisons with experimental data show that the asymptotic theory properly captures the key physical effects involved in the development of the cavity, and in particular gives a reasonable prediction of the maximum size of the cavity and the time of cavity closure. Due to the inherent assumption in the asymptotic theory, it is incapable of accurately predicting the flow details near the free surface and the body, where nonlinear free surface and body boundary effects are important. To complement the asymptotic theory, a fully nonlinear numerical study using an axisymmetric boundary integral equation is performed. The numerically obtained dependencies of the cavity height and closure time on Froude number and body geometry are in excellent agreement with available experiments.

The flow around two stationary cylinders in tandem arrangement at the laminar and early turbulent regime, ($\\hbox{\\it Re}\\,{=}\\,10^2$–$10^3$), is studied using two- and three-dimensional direct numerical simulations. A range of spacings between the cylinders from 1.1 to 5.0 diameters is considered with emphasis on identifying the effects of three-dimensionality and cylinder spacing as well as their coupling. To achieve this, we compare the two-dimensional with corresponding three-dimensional results as well as the tandem cylinder system results with those of a single cylinder. The critical spacing for vortex formation and shedding in the gap region depends on the Reynolds number. This dependence is associated with the formation length and base pressure suction variations of a single cylinder with Reynolds number. This association is useful in explaining some of the discrepancies between the two-dimensional and three-dimensional results. A major effect of three-dimensionality is in the exact value of the critical spacing, resulting in deviations from the two-dimensional predictions for the vorticity fields, the forces on the downstream cylinder, and the shedding frequency of the tandem system. Two-dimensional simulations under-predict the critical spacing, leading to erroneous results for the forces and shedding frequencies over a range of spacings where the flow is qualitatively different. To quantify the three-dimensional effects we first employ enstrophy, decomposed into a primary and a secondary component. The primary component involves the vorticity parallel to the cylinder axis, while the secondary component incorporates the streamwise and transverse components of the vorticity vector. Comparison with the single cylinder case reveals that the presence of the downstream cylinder at spacings lower than the critical value has a stabilizing effect on both the primary and secondary enstrophy. Systematic quantification of three-dimensionalities involves finding measures for the intensity of the spanwise fluctuations of the forces. This also verifies the stabilization scenario, suggesting that when the second cylinder is placed at a distance smaller than the critical one, three-dimensional effects are suppressed compared to the single-cylinder case. However, when the spacing exceeds the critical value, the upstream cylinder tends to behave like a single cylinder, but three-dimensionality in the flow generally increases.

Wave energy presents an excellent opportunity to add much-needed diversification to the global renewable energy portfolio. However, a competitive levelised cost of electricity for wave energy conversion devices is yet to be proven. Here, we optimise the geometry of a wave energy device to maximise power while also minimising the power take-off reaction moments. Using theory, numerical modelling and optimisation techniques, we show that by including minimisation of reaction moments in the optimisation, instead of only maximisation of power, it is possible to substantially lower the design loads while maintaining high efficiency. Using the underlying physics of how geometry affects the wave-structure interaction, we explain the resulting performance of these new designs for wave energy converters. We examine the resulting geometries for practicality, including performance over a wide range of sea states, motion requirements, and performance in a real sea-state off the coast of Scotland, United Kingdom. Comparing against the single shape which extracts the theoretical maximum power, the optimal shapes found in our study extract almost as much power (12% less) with substantially less moment (reduced by up to 35%), revealing a promising direction for wave energy development. Wave energy offers vital diversification for Net-Zero goals, though further cost reductions are needed. Emma Edwards and colleagues optimise device geometry to minimise reaction moments while preserving high-power output, advancing economic viability.

We consider a class of higher order (quartet) Bragg resonance involving two incident wave components and a bottom ripple component (so called class III Bragg resonance). In this case, unlike class I/II Bragg resonance involving a single incident wave and one/two bottom ripple components, the frequency of the resonant wave, which can be reflected or transmitted, is a sum or difference of the incident wave frequencies. In addition to transferring energy across the spectrum leading to potentially significant spectral transformation, such resonances may generate long (infragravity) waves of special importance to coastal processes and engineering applications. Of particular interest here is the case where the incident waves are oblique to the bottom undulations (or to each other) which leads to new and unexpected wave configurations. We elucidate the general conditions for such resonances, offering a simple geometric construction for obtaining these. Perturbation analysis results are obtained for these resonances predicting the evolutions of the resonant and incident wave amplitudes. We investigate special cases using numerical simulations (applying a high-order spectral method) and compare the results to perturbation theory: infragravity wave generation by co- and counter-propagating incident waves normal to bottom undulations; longshore long waves generated by (bottom) oblique incident waves; and propagating–standing resonant waves due to (bottom) parallel incident waves. Finally, we consider a case of multiple resonance due to oblique incident waves on bottom ripples which leads to complex wave creation and transformations not easily tractable with perturbation theory. These new wave resonance mechanisms can be of potential importance on continental shelves and in littoral zones, contributing to wave spectral evolution and bottom processes such as sandbar formation.

We analyse the turbulence characteristics and consider the closure modelling of the air entraining flow in the wake of three-dimensional, rectangular dry transom sterns obtained using high-resolution implicit large eddy simulations (iLES) (Hendrickson et al., J. Fluid Mech., vol. 875, 2019, pp. 854–883). Our focus is the incompressible highly variable density turbulence (IHVDT) in the near surface mixed-phase region ${\\mathcal{R}}$ behind the stern. We characterize the turbulence statistics in ${\\mathcal{R}}$ and determine it to be highly anisotropic due to quasi-steady wave breaking. Using unconditioned Reynolds decomposition for our analysis, we show that the turbulent mass flux (TMF) is important in IHVDT for the production of turbulent kinetic energy and is as relevant to the mean momentum equations as the Reynolds stresses. We develop a simple, regional explicit algebraic closure model for the TMF based on a functional relationship between the fluxes and tensor flow quantities. A priori tests of the model show mean density gradients and buoyancy effects are the main driving parameters for predicting the turbulent mass flux and the model is capable of capturing the highly localized nature of the TMF in ${\\mathcal{R}}$ .