Although active flow control based on deep reinforcement learning (DRL) has been demonstrated extensively in numerical environments, practical implementation of real-time DRL control in experiments remains challenging, largely because of the critical time requirement imposed on data acquisition and neural-network computation. In this study, a high-speed field-programmable gate array (FPGA) -based experimental DRL (FeDRL) control framework is developed, capable of achieving a control frequency of 1–10 kHz, two orders higher than that of the existing CPU-based framework (10 Hz). The feasibility of the FeDRL framework is tested in a rather challenging case of supersonic backward-facing step flow at Mach 2, with an array of plasma synthetic jets and a hot-wire acting as the actuator and sensor, respectively. The closed-loop control law is represented by a radial basis function network and optimised by a classical value-based algorithm (i.e. deep Q-network). Results show that, with only ten seconds of training, the agent is able to find a satisfying control law that increases the mixing in the shear layer by 21.2 %. Such a high training efficiency has never been reported in previous experiments (typical time cost: hours).

Three-dimensional wake forcing is applied to a profiled blunt trailing edge body from synthetic jet arrays distributed symmetrically on both sides of the body. The effect on the wake is experimentally studied at Reynolds numbers based on body thickness, $d$, of $2500 \leqslant Re_d=u_\infty d/\nu \leqslant 5000$ in the turbulent wake regime. The exits of the synthetic jets are rectangular slots and are oriented spanwise to the cross-flow with a uniform spacing of $2.4d$. The forcing causes spanwise variations in the separated shear layers, leading to the von Kármán vortices tilting and forming coherent streamwise vortex loops. This reorientation of the wake vorticity is associated with the attenuation of the vortex street and drag reduction, consistent with previous studies of spanwise perturbations to wakes. The effect of forcing amplitude on the drag and wake structure is examined. It is found that the mean shedding frequency is constant across the span in all cases, indicating that the forced wake has a periodic organised structure. The greatest drag reduction of approximately 25 % is achieved when the vortical structures emitted by the jets penetrate up the edges of the boundary layers of the body, which occurs at velocity ratios (defined from the mean jet exit velocity during expulsion) of about 3 when $Re_d=2500$ and about 2 when $Re_d=5000$. This study presents evidence that the forcing effectiveness is maximised when the vortex street is most tilted into the streamwise direction.

Here we evaluate the skin coefficient of friction for steady turbulent radial wall jets across smooth and rough surfaces. Although the Colebrook equation has been used successfully for many decades to evaluate friction factors for flows through smooth and rough pipes, how roughness affects the skin friction coefficient for steady turbulent radial wall jets remains unclear. Here we explore a Colebrook-type equation for skin friction coefficients associated with single-phase turbulent radial wall jets arising from orthogonally impinging circular jets. The fully iterative solution, based on well-established concepts of turbulent wall-bounded flow, is presented along with a power-law approximation and a non-iterative approximation for the friction coefficient derived therefrom. We find the skin coefficient of friction defined on the peak radial velocity to be a function of position over rough but not smooth surfaces in contrast to pipe friction factors that remain independent of axial position. These results follow expected trends, explain prior heterogeneity in power-law expressions for the skin friction coefficient and have significant implications for the industrial use of jets in mixing vessels.

The formation process of a vortex pair generated by a two-dimensional starting jet has been investigated numerically over a range of Reynolds numbers from 500 to 2000. The effects of stroke ratio and nozzle configuration are examined. Only a single vortex pair can be observed in the vorticity field generated by small stroke ratios less than 10 while the leading vortex pair formed by larger stroke ratios eventually disconnects from the trailing jet. The formation numbers (13.6 and 9.3) for a straight nozzle and an orifice nozzle have been identified by the circulation criterion and they are further analysed by four other criteria. Using the contraction coefficient, formation numbers can be transformed into a universal value at about 16.5 for both nozzles. The effect of Reynolds number on the formation number is found to be within 12 % for parallel flow cases but it will increase up to 27 % for non-parallel flow cases due to shear-layer instability. A modified contraction-based slug model is proposed, and it can accurately predict the total invariants (e.g. circulation, hydrodynamic impulse and kinetic energy) shedding from the nozzle edge. Analytical estimation of the formation number is further conducted by matching the predicted total invariants to the Pierrehumbert model of steady vortex pairs. By assuming that pinch-off starts when the vortex pair achieves the steady state, two analytical models are proposed in terms of vortex impulse and translational velocity. The latter appears to be more appropriate to predict the formation number for two-dimensional flows.

This study identifies two previously unrecognised screech modes in non-axisymmetric jets. Spectral proper orthogonal decomposition (SPOD) of ultra-high-speed schlieren images reveals a bi-axial flapping mode in a rectangular jet and a quasi-helical mode in an elliptical jet. To educe the complex three-dimensional structure of these new modes, SPOD is performed on datasets from different viewing perspectives, produced by rotating the nozzle with respect to the schlieren path to an azimuthal angle $\theta$. The bi-axial flapping mode is strongly antisymmetric from any perspective. However, the SPOD eigenvalue at the screech frequency ($\lambda _s$) varies with $\theta$ and the axial distance of the SPOD domain from the nozzle lip. This mode most closely resembles a flapping mode in the minor-axis plane close to the nozzle lip and a wagging mode in the major-axis plane further downstream. This transition from flapping to wagging at the same frequency correlates with the axis switching defined by the shock-cell structure in the mean flow. The quasi-helical mode in the elliptical jet is characterised by an antisymmetric structure present in the SPOD spatial modes whose eigenvalue $\lambda _s$ is insensitive to both $\theta$ and the axial domain. These findings indicate that the spatial evolution of the mean flow in non-axisymmetric jets may allow them to support a range of additional screech modes that differ significantly from those supported by the original three-dimensional shape of the jet.

The bevelled nozzle is a promising noise control approach and has been tested to suppress the noise levels in supersonic circular jets, but not in rectangular jets so far. In this study, implicit large-eddy simulations are performed to analyse the noise control of supersonic rectangular jets with single- and double-bevelled nozzles. Three nozzle pressure ratios ($NPR = 2.3$, 3.0 and 5.0) are considered to form two over-expanded cold jets and one under-expanded cold jet, exhausted from a baseline convergent–divergent rectangular nozzle with an aspect ratio of 2.0. Results show that, with the increase of $NPR$, the oscillation of the jet plume is switched from a symmetrical mode to a flapping mode (preferential in the minor-axis plane), then to a helical mode, together with a reduction of the screech frequency. The amplitude of the screech tone is the strongest in the flapping jet, and the turbulent mixing noise is the most prominent in the helically oscillating jet. The single-bevelled nozzle induces asymmetric shock-cell structures and deflects the jet plumes, and the double-bevelled nozzle primarily enables the enhancement of the shear-layer mixing and shortens the lengths of the jet potential cores. With the bevelled nozzles, the gross thrusts of the baseline nozzle are increased by $0.05 \sim 7.38$ %. Details on the characteristics of far-field noise in the jets with/without the bevel cuts and their noise control mechanisms are discussed using the Ffowcs Williams–Hawkings acoustic analogy, dynamic mode decomposition and spatio-temporal Fourier transformation. Results suggest that the noise control has a close relationship with the destruction of well-organized coherent structures and the suppression of upstream-propagating guided-jet modes, which interrupt the feedback mechanism accounting for the generation of screech tones in the supersonic rectangular jets.

The collapse of an initially spherical cavitation bubble near a free surface leads to the formation of two jets: a downward jet into the liquid, and an upward jet penetrating the free surface. In this study, we examine the surprising interaction of a bubble trapped in a stable cavitating vortex ring approaching a free surface. As a result, a single fast and tall liquid jet forms. We find that this jet is observed only above critical Froude numbers ($Fr$) and Weber numbers ($We$) when ${Fr}^2 (1.6-2.73/{We}) > 1$, illustrating the importance of inertia, gravity and surface tension in accelerating this novel jet and thereby reaching heights several hundred times the radius of the vortex ring. Our experimental results are supported by numerical simulations, revealing that the underlying mechanism driving the vortex ring acceleration is the disruption of the equilibrium of high-pressure regions at the front and rear of the vortex ring caused by the free surface. Quantitative analysis based on the energy relationships elucidates that the velocity ratio between the maximum velocity of the free-surface jet and the translational velocity of the vortex ring is relatively stable yet is attenuated by surface tension when the jet is mild.

Direct numerical simulations are performed to explore the evolution behaviour of the turbulent/non-turbulent interface (TNTI) in a temporally evolving turbulent plane jet, using the evolution equation for the TNTI surface area. A novel algorithm is used to calculate the surface area of the TNTI and entrainment flux. It is shown that the surface area remains relatively constant, which leads to the mean entrainment velocity being inversely proportional to the square root of time. On average, the effects of the stretching and curvature/viscous terms on the TNTI area roughly counterbalance each other, while the curvature/inviscid term associated with vortex stretching is virtually zero. More specifically, the stretching term contributes to the production of the surface area, while the curvature/viscous term is associated with a destruction in the surface area. The local effect of the curvature/viscous term exhibits high spatial intermittency with small-scale extreme/intense events, whereas the effect of the large-scale stretching term is more continuous. To shed light on the contribution of curvature/viscous term to the evolution of the surface area, we decompose it into three components. The effect of the curvature/normal diffusion term (the curvature/viscous dissipation term) in the bulging regions (the valley regions) mainly contributes to the production of the area. The continuous decrease of the average mean curvature is associated with the production of the bulging regions and the destruction of the valley regions. Finally, although the entrainment velocity is mainly dominated by the normal diffusion effect, all three components related to the viscous effect are indispensable to the production and destruction of the TNTI area. This numerical study contributes to a better understanding of the evolution of the TNTI area.

This work aims to perform a parametric study on a round supersonic jet with a design Mach number Md = 1.8, which is manipulated using a single steady radial minijet with a view to enhancing its mixing. Four control parameters are examined, i.e. the mass flow rate ratio Cm and diameter ratio d/D of the minijet to main jet, and exit pressure ratio Pe/Pa and fully expanded jet Mach number Mj, where Pe and Pa are the nozzle exit and atmospheric pressures, respectively. Extensive pressure and schlieren flow visualization measurements are conducted on the natural and manipulated jets. The supersonic jet core length Lc/D exhibits a strong dependence on the four control parameters. Careful scaling analysis of experimental data reveals that Lc/D = f1(Cm, d/D, Pe/Pa, Mj) may be reduced to Lc/D = f2(ξ), where f1 and f2 are different functions. The scaling factor $\xi = J({d_i}/{D_j})/(\gamma M_j^2{P_e}/{P_a})$ is physically the penetration depth of the minijet into the main jet, where $J({d_i}/{D_j})$ is the square root of the momentum ratio of the minijet to main jet (di and Dj are the fully expanded diameters of d and D, respectively), γ is the specific heat ratio and $\gamma M_j^2{P_e}/{P_a}$ is the non-dimensional exit pressure ratio. Important physical insight may be gained from this scaling law into the optimal choice of control parameters such as d/D and Pe/Pa for practical applications. It has been found for the first time that the minijet may induce a street of quasi-periodical coherent structures once Cm exceeds a certain level for a given ${P_e}/{P_a}$. Its predominant dimensionless frequency Ste (≡ feDj/Uj) scales with a factor $\zeta = J({d_i}/{D_j})\; \sqrt {\gamma M_j^2{P_e}/{P_a}} $, which is physically the ratio of the minijet momentum thrust to the ambient pressure thrust. The formation mechanism of the street and its role in enhancing jet mixing are also discussed.

This work presents models for the behaviour of both upstream- and downstream-travelling waves in screeching elliptical jets. Proper orthogonal decomposition is performed on experimental velocity data in both the major and minor axis planes, for an aspect ratio $AR=2$ converging elliptical jet operating at nozzle pressure ratios of $2.6$ and $3.4$. From this decomposition, the radial and axial structure of the guided-jet mode (GJM) and the Kelvin–Helmholtz instability are educed. Linear-stability analysis (LSA) is performed using both the experimentally obtained mean flow, and one obtained using Reynolds-averaged Navier–Stokes (RANS) at matched conditions. It is shown that the wavenumber predicted by LSA for both waves are within the range of experimentally observed wavenumbers. Furthermore, the model accurately predicts the structure of these waves at multiple axial locations, using either the experimental or RANS mean flow. Most critically, it is demonstrated that the GJM is only predicted to be neutrally stable at the screech frequency for a relatively limited streamwise domain, the size and location of which is dependent on the nozzle pressure ratio. A comparison with the amplitude envelope for the GJM extracted from the experimental measurements indicates that the maximum fluctuations associated with the GJM are collocated with this region of the flow that is predicted to support the GJM. While there have been extensive discussions about the frequency dependence of the GJM, this is the first demonstration that its existence is highly dependent on streamwise position within the flow.

This study presents an approach to investigate the role of eddy viscosity in linearized mean-field analysis of broadband turbulent flows. The procedure is based on spectral proper orthogonal decomposition (SPOD), resolvent analysis and the energy budget of coherent structures and is demonstrated using the example of a turbulent jet. The focus is on the coherent component of the Reynolds stresses, the nonlinear interaction term of the fluctuating velocity component in frequency space, which appears as an unknown in the derivation of the linearized Navier–Stokes equations and which is the quantity modelled by the Boussinesq approach. For the considered jet the coherent Reynolds stresses are found to have a mostly dissipative effect on the energy budget of the dominant coherent structures. Comparison of the energy budgets of SPOD and resolvent modes demonstrates that dissipation caused by nonlinear energy transfer must be explicitly considered within the linear operator to achieve satisfactory results with resolvent analysis. Non-modelled dissipation distorts the energy balance of the resolvent modes and is not, as often assumed, compensated for by the resolvent forcing vector. A comprehensive analysis, considering different predictive and data-driven eddy viscosities, demonstrates that the Boussinesq model is highly suitable for modelling the dissipation caused by nonlinear energy transfer for the considered flow. Suitable eddy viscosities are analysed with regard to their frequency, azimuthal wavenumber and spatial dependence. In conclusion, the energetic considerations reveal that the role of eddy viscosity is to ensure that the energy the structures receive from the mean-field is dissipated.

Linear instability analysis of a viscous swirling liquid jet surrounded by ambient gas is carried out by considering the significant influence of axial shear effect. The jet azimuthal flow is assumed as a Rankine vortex, and the non-uniform velocity distribution in the jet axial direction is approximated by parabolic and error functions. The enhancement of jet rotation is found to promote the predominant mode with larger azimuthal wavenumbers, and the mode transition is decided by the competition between centrifugal force and axial shear stress. Subsequently, the influence of the axial shear effect is examined through changing the degree of shear stress and the thickness of the gas velocity boundary layer. It is found that an increase of jet average velocity or surface velocity in the axial direction leads to the predominant mode transition to smaller azimuthal wavenumbers, due to the combined effects of shear stress and gas pressure perturbation. A larger velocity difference between ambient gas and liquid jet also promotes the predominant modes with smaller azimuthal wavenumbers, and the physical mechanism is attributed to gas pressure perturbation. Phase diagrams of different azimuthal modes are given and compared with the study of Kubitschek & Weidman (J. Fluid Mech., vol. 572, 2007, pp. 261–286), where a static swirling column without axial shear stress was considered. The strengthened axial shear effect is found to delay the transition of predominant modes with the increase of angular velocity. Experimental studies considering the swirling jets with different axial velocities are further carried out, which validate the theoretical findings. Different instability mechanisms and their transition rules are also identified through energy budget analysis. This study is expected to give scientific guidance on understanding the instability mechanisms of the swirling jets that widely exist in natural phenomena and engineering applications.

The dimensional transition in turbulent jets of a shear-thinning fluid is studied via direct numerical simulations. Our findings reveal that under vertical confinement, the flow exhibits a unique mixed-dimensional (or 2.5-dimensional) state, where large-scale two-dimensional and small-scale three-dimensional structures coexist. This transition from three-dimensional turbulence near the inlet to two-dimensional dynamics downstream is dictated by the level of confinement: weak confinement guarantees turbulence to remain three-dimensional, whereas strong confinement forces the transition to two dimensions; the mixed-dimensional state is observed for moderate confinement and it emerges as soon as flow scales are larger than the vertical length. In this scenario, we observed that the mixed-dimensional state is an overall more energetic state, and it shows a multi-cascade process, where the direct cascade of energy at small scales and the direct cascade of enstrophy at large scales coexist. The results provide insights into the complex dynamics of confined turbulent flows, relevant in both natural and industrial settings.

The formation mechanism for the stopping vortex ring (SVR) and its effects on the development of starting jets have been systematically investigated. The radial inward flow near the nozzle exit, arising from the pressure difference caused by the deceleration of starting jets, is considered to be the main contributing factor to the formation of the SVR. The formation process can generally be divided into (i) the rapid accumulation stage ($t_d^*\leq 1$) and (ii) the development stage ($t_d^*>1$), where $t_d^*$ is the formation time defined by the duration of the deceleration stage. For starting jets with different $(L/D)_d$, the final circulation value and circulation growth rate of the SVR can be scaled by $[(L/D)_d]^{-0.5}$ and $[(L/D)_d]^{-1.5}$, respectively. Here $(L/D)_d$ represents the stroke ratio during the deceleration stage. Analysing the temporal evolution of fluid parcels in the vicinity of the nozzle exit reveals that SVR entrains fluid from both inside and outside of the nozzle. Additionally, the influence of the SVR on the leading vortex ring and the trailing jet has been examined, with particular attention to its effects on the propulsive performance of the starting jet. The SVR affects the profiles of axial velocity and gauge pressure at the nozzle exit, thereby enhancing the generation of total thrust during the deceleration stage. Analysis has shown that depending on the deceleration rate, SVR can enhance the average velocity thrust by at least $10\,\%$ and compensate for up to a $60\,\%$ reduction in pressure thrust due to deceleration.

We investigate self-excited axisymmetric oscillations of a lean premixed methane–air V-flame in a laminar annular jet. The flame is anchored near the rim of the centrebody, forming an inverted cone, while the strongest vorticity is concentrated along the outer shear layer of the annular jet. Consequently, the reaction and vorticity dynamics are largely separated, except where they coalesce near the flame tip. The global eigenmodes corresponding to the linearised reacting flow equations around the steady base state are computed in an axisymmetric setting. We identify an arc branch of eigenmodes exhibiting strong oscillations at the flame tip. The associated eigenvalues are robust with respect to domain truncation and numerical discretisation, and they become destabilised as the Reynolds number increases. The frequency of the leading eigenmode is found to correspond to the Lagrangian disturbance advection time from the nozzle outlet to the flame tip. The essential role of this convective mechanism is also supported by resolvent analysis, which finds that the same flame-tip disturbance structure and frequency are optimally amplified when the flame is subjected to external white noise forcing. Strong non-modal effects in the form of pseudo-resonance are not found. Nonlinear time-resolved simulation further reveals notable hysteresis phenomena in the subcritical regime prior to instability. Hence, even when the flame is linearly stable, perturbations of sufficient amplitude can trigger limit-cycle oscillations and higher-dimensional dynamics sustained by nonlinear feedback. A Monte Carlo simulation of passive tracers in the unsteady flame suggests a nonlinear non-local instability mechanism. Notably, linear analysis of the subcritical time-averaged limit-cycle state yields eigenvalues that do not match the nonlinear periodic oscillation frequencies. This mismatch is attributed to the fundamentally nonlinear dynamics of the subcritical V-flame instability, where the dichromatic, non-local interaction between the heat release rate along the flame surface and the vortex dynamics in the jet shear layer cannot be approximated as a simple distortion of the mean flow.

We perform simulations of an impulsively started, axisymmetric viscoelastic jet exiting a nozzle and entering a stagnant gas phase using the open-source code Basilisk. This code allows for efficient computations through an adaptively refined volume-of-fluid technique that can accurately capture the deformation of the liquid–gas interface. We use the FENE-P constitutive equation to describe the viscoelasticity of the liquid, and employ the log-conformation transformation, which provides stable solutions for the evolution of the conformation tensor as the jet thins down under the action of interfacial tension. For the first time, the entire jetting and breakup process of a viscoelastic fluid is simulated, including the pre-shearing flow through the nozzle, which results in an inhomogeneous initial radial stress distribution in the fluid thread that affects the subsequent breakup dynamics. The evolution of the velocity field and the elastic stresses in the nozzle are validated against analytical solutions where possible, and the early-stage dynamics of the jet evolution are compared favourably to the predictions of linear stability theory. We study the effect of the flow inside the nozzle on the thinning dynamics of the viscoelastic jet (which develops distinctive ‘beads-on-a-string’ structures) and on the spatio-temporal evolution of the polymeric stresses in order to systematically explore the dependence of the filament thinning and breakup characteristics on the initial axial momentum of the jet and the extensibility of the dissolved polymer chains.

The gain in efficiency of the receptivity of jets to acoustic disturbances as the nozzle lip is thicker is investigated using numerical simulations. For that, axisymmetric acoustic pulses are introduced in jets with Blasius laminar boundary-layer profiles at Mach numbers $M=0.4$, 0.6, 0.9 and 1.3 for nozzle-lip thicknesses between 1 % and 93 % of the nozzle radius. They are located on the jet axis or outside the jet with incidence angles $\varphi$ between $5^{\circ }$ and $90^{\circ }$ with respect to the downstream direction. Instability waves develop in the jet shear layer after the acoustic disturbances hit the nozzle. In all cases except for $\varphi \geq 75^{\circ }$, their amplitudes and hence the efficiency of the jet receptivity to the disturbances increase with the nozzle-lip thickness. The gains in efficiency are greater for a pulse inside the jet, generating upstream-travelling pressure waves resembling guided jet waves, than for a pulse outside the jet, producing free-stream sound waves. In the second case, the gains are significant for $\varphi =5^{\circ }$ and decrease with the incidence angle, especially for $\varphi >30^{\circ }$. Moreover, the gains are stronger for a higher Mach number, and roughly double between $M=0.4$ and $1.3$, thus reaching, for a pulse inside the jet, values close to 6 between the thinnest and thickest lips. Finally, according to additional simulations for $M=0.9$, the gains in receptivity efficiency do not change appreciably when different azimuthal mode numbers of the acoustic disturbances, widths of the pulse and shapes of the boundary-layer profile are considered.

Scale dependence of local shearing motion is investigated experimentally in decaying homogeneous isotropic turbulence generated through multiple-jet interaction. The turbulent Reynolds number, based on the Taylor microscale, is between approximately 900 and 400. Velocity fields, measured using particle image velocimetry, are analysed through the triple decomposition of a low-pass filtered velocity gradient tensor, which quantifies the intensities of shear and rigid-body rotation at a given scale. These motions manifest predominantly as layer and tubular vortical structures, respectively. The scale dependence of the moments of velocity increments, associated with shear and rigid-body rotation, exhibits power-law behaviours. The scaling exponents for shear are in quantitative alignment with the anomalous scaling of the velocity structure functions, suggesting that velocity increments are influenced predominantly by shearing motion. In contrast, the exponents for rigid-body rotation are markedly smaller than those predicted by Kolmogorov scaling, reflecting the high intermittency of rigid-body rotation. The mean flow structure associated with shear at intermediate scales is investigated with conditional averages around locally intense shear regions in the filtered velocity field. The averaged flow field exhibits a shear layer structure with aspect ratio approximately 4.5, surrounded by rotating motion. The analysis at different scales reveals the existence of self-similar structures of shearing motion across various scales. The mean velocity jump across the shear layer increases with the layer thickness. This relationship is well predicted by Kolmogorov's second similarity hypothesis, which is useful in predicting the mean characteristics of shear layers across a wide range of scales.

Recent numerical calculations have revealed the existence of fast jets in inviscid fluids when a pressure maximum exists close to a free boundary. This paper describes two-dimensional and axisymmetric configurations for which asymptotic analysis suggests that such jets can become infinitely long in finite time.

The present experimental study shows that a nozzle with optimal flexibility can enhance the impulse and entrainment of a pulsed jet. Near the nozzle exit, vortex rings emanating from the flexible nozzle move faster because of the timely release of the elastic energy (stored during the expansion) to the jet, which is maximized at the structural stiffness that needs to be optimally tuned to the jet acceleration. The total circulation, hydrodynamic impulse and entrained fluid volume are enhanced substantially. Interestingly, we find that the same condition for optimal flexibility to maximize the hydrodynamic impulse and circulation of the primary vortex ring of the continuous jet (Choi & Park, J. Fluid Mech., vol. 949, 2022, A39) holds universally for the pulsed jet, indicating that abrupt jet termination is irrelevant to the impulse augmentation mechanism. Compared to the rigid counterpart, increments of the impulse (${\sim }400\,\%$) and entrainment (${\sim }220\,\%$) of a pulsed jet in the present study are considerably larger than those ($200\,\%$ and $50\,\%$, respectively) in a continuous jet from previous studies, which is attributed to the significant suppression of negative pressure at the nozzle exit by the collapsing motion of the flexible nozzle in the phase with the jet-driven upstream propagation of the surface wave on the nozzle. This universal mechanism provides a guideline for a novel jet propulsor using a flexible nozzle, for example, for small-scale underwater robots.