Energetics of mode-1 internal waves interacting with topographic ridges are investigated using high-resolution two-dimensional simulations at spatial scales of $O(100)$ m that span between classical laboratory-scale ($O(10)$ m) and field-scale simulations ($O(1000\unicode{x2013}10\,000)$ m). This paper focuses on the energetics of wave–topography interaction, with emphasis on systematically examining the partitioning of the incident wave energy as a function of wave forcing and topographic parameters. Partitioning of energy into the transmitted, reflected and dissipated components is quantified as a function of wave Froude number $Fr=U_0/c_{ph}$ ($U_0=$ velocity amplitude of forcing and $c_{ph}=$ internal wave celerity), slope criticality $=\gamma /s$, where $\gamma =$ topographic slope and $s=$ wave characteristic slope, and the ratio of topographic height $h_t$ to water depth $d$. As $Fr$ increases, dense fluid from the base of the stratified water column surges upslope with significant vertical inertia, leading to the formation of internal boluses that plunge over and onto the downstream side of the ridge, resulting in elevated dissipation. Results show that non-hydrostatic contributions to the total energy flux are significant (up to 50 %). Analysis of the energy flux budget shows that transmitted energy flux decreases monotonically as $\gamma /s$ increases for any given $Fr$ and $h_t/d$. At critical slopes ($\gamma /s=1$), the transmitted energy flux scales as a linear function of $h_t/d$, with a mild dependence on $Fr$, a key result that can be useful in energy flux parameterizations. Reflected energy flux exhibits a nonlinear dependence on the ridge height, increasing sharply when $h_t/d > 0.5$. Dissipation is enhanced at critical slopes, with a plateau evident for $\gamma /s \ge 1$ and $h_t/d = 0.5$ for all $Fr$.

Experimental studies on the sloshing of fluid layers are usually performed in rectangular tanks with fixed boundaries. In contrast, the present study uses a 4.76-m-long circular channel, a geometry with open periodic boundaries. Surface waves are excited by means of a submerged hill that, together with the tank, performs a harmonic oscillation. Laboratory measurements are made using 18 ultrasonic probes, evenly distributed over the channel to track the wave propagation. It is shown that a two-dimensional long-wave numerical model derived via the Kármán–Pohlhausen approach reproduces the experimental data as long as the forcing is monochromatic. The sloshing experiments imply a highly complex surface wave field. Different wave types such as solitary waves, undular bores and antisolitary waves are observed. For order one $\delta _{hill} = h_{hill}/h_0$, where $h_0$ is the mean water level and $h_{hill}$ the obstacle's height, the resonant reflections of solitary waves by the submerged obstacle give rise to an amplitude spectrum for which the main resonance peaks can be explained by linear theory. For smaller $\delta _{hill}$, wave transmissions lead to major differences with respect to the more common cases of sloshing with closed ducts having fully reflective ends for which wave transmission through the end walls is not possible. This ultimately results in more complex resonance diagrams and a pattern formation that changes rather abruptly with the frequency. The experiments are of interest not only for engineering applications but also for tidal flows over bottom topography.

A boundary integral representation is derived for the translational oscillations of a triaxial ellipsoid in a uniformly stratified fluid. The representation is of single-layer type, a distribution of sources and sinks over the surface of the ellipsoid. The added mass tensor of the ellipsoid is deduced from it and, from this tensor, the impulse response function together with the energy radiated away as internal waves. Horizontal oscillations correspond to the generation of an internal or baroclinic tide by the oscillation of the barotropic tide over ellipsoidal topography at the bottom of the stratified ocean. Such topography is unconditionally supercritical, namely of slope larger than the slope of the wave rays, irrespective of the frequency of oscillation. So far, analytical work on supercritical topographies has been limited, for the most part, to two-dimensional set-ups. Here, for the ellipsoidal seamount, the orientation of the barotropic tide and the anisotropy of the topography have their effects analysed in detail. As the height of the seamount increases, the rate of conversion of barotropic energy into baroclinic form is seen to first increase according to the square law expected for a topography of small slope, then saturate and eventually decrease.

This study explores precession-driven flows in a non-axisymmetric ellipsoid spinning around its medium axis. Using an experimental approach, we focus on two aspects of the flow: the base flow of uniform vorticity and the development of fluid instabilities. In contrast to a preceding paper (J. Fluid. Mech., vol. 932, 2022, A24), where the ellipsoid rotated around its shortest axis, we do not observe bi-stability or hysteresis of the base flow, but a continuous transition from small to large differential rotation and tilt of the fluid rotation axis. We then use the model developed by Noir & Cébron (J. Fluid. Mech., vol. 737, 2013, pp. 412–439) to numerically determine regions in the parameter space of axial and equatorial deformations for which bi-stability may exist. Concerning fluid instabilities, we use three independent observations to track the onset of both boundary layer and parametric instabilities. Our results clearly show the presence of a parametric instability, yet the exact nature of the underlying mechanism (conical shear layer instability, shear instability and elliptical instability) is not unambiguously identified. A coexisting boundary layer instability, although unlikely, cannot be ruled out based on our experimental data. To make further progress on this topic, a new generation of experiments at significantly lower Ekman numbers (ratio of rotation and viscous time scales) is clearly needed.

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.