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Lagrangian tracer particle trajectories for invariant solutions of the Navier-Stokes equations confined to the three-dimensional geometry of plane Couette flow are studied. Treating the Eulerian velocity field of an invariant solution as a dynamical system, the transport of these passive scalars along Lagrangian flow trajectories reveals a rich repertoire of different types of motion that can occur, including stagnation points, for which there is no fluid movement, and invariant tori, which obstruct chaotic mixing across the full volume of the plane Couette flow minimal cell. We determine the stability of these stagnation points, along with their stable and unstable manifolds, and find heteroclinic connections between them. These topological features produce a skeleton that shapes the passive tracer flow for a turbulent fluid, providing a first step to elucidating Lagrangian particle transport and mixing in three-dimensional Navier-Stokes turbulent flows., Comment: 18 pages, 13 figures

Chaotic dynamics of low-dimensional systems, such as Lorenz or R\"ossler flows, is guided by the infinity of periodic orbits embedded in their strange attractors. Whether this also be the case for the infinite-dimensional dynamics of Navier--Stokes equations has long been speculated, and is a topic of ongoing study. Periodic and relative periodic solutions have been shown to be involved in transitions to turbulence. Their relevance to turbulent dynamics---specifically, whether periodic orbits play the same role in high-dimensional nonlinear systems like the Navier--Stokes equations as they do in lower-dimensional systems---is the focus of the present investigation. We perform here a detailed study of pipe flow relative periodic orbits with energies and mean dissipations close to turbulent values. We outline several approaches to reduction of the translational symmetry of the system. We study pipe flow in a minimal computational cell, and report a library of invariant solutions found with the aid of the method of slices. Detailed study of the unstable manifolds of a sample of these solutions is consistent with the picture that relative periodic orbits are embedded in the chaotic saddle and that they guide the turbulent dynamics., Comment: 26 pages, 11 figures, 1 table

Systems such as fluid flows in channels and pipes or the complex Ginzburg-Landau system, defined over periodic domains, exhibit both continuous symmetries, translational and rotational, as well as discrete symmetries under spatial reflections or complex conjugation. The simplest, and very common symmetry of this type is the equivariance of the defining equations under the orthogonal group O(2). We formulate a novel symmetry reduction scheme for such systems by combining the method of slices with invariant polynomial methods, and show how it works by applying it to the Kuramoto-Sivashinsky system in one spatial dimension. As an example, we track a relative periodic orbit through a sequence of bifurcations to the onset of chaos. Within the symmetry-reduced state space we are able to compute and visualize the unstable manifolds of relative periodic orbits, their torus bifurcations, a transition to chaos via torus breakdown, and heteroclinic connections between various relative periodic orbits. It would be very hard to carry through such analysis in the full state space, without a symmetry reduction such as the one we present here., Comment: 23 pages, 9 figures

Equilibrium solutions are believed to structure the pathways for ergodic trajectories in a dynamical system. However, equilibria are atypical for systems with continuous symmetries, i.e. for systems with homogeneous spatial dimensions, whereas relative equilibria (traveling waves) are generic. In order to visualize the unstable manifolds of such solutions, a practical symmetry reduction method is required that converts relative equilibria into equilibria, and relative periodic orbits into periodic orbits. In this article we extend the fixed Fourier mode slice approach, previously applied 1-dimensional PDEs, to a spatially 3-dimensional fluid flow, and show that is substantially more effective than our previous approach to slicing. Application of this method to a minimal flow unit pipe leads to the discovery of many relative periodic orbits that appear to fill out the turbulent regions of state space. We further demonstrate the value of this approach to symmetry reduction through projections (projections only possible in the symmetry-reduced space) that reveal the interrelations between these relative periodic orbits and the ways in which they shape the geometry of the turbulent attractor., Comment: 5 pages, 4 figures, 1 table

Symmetry reduction by the method of slices quotients the continuous symmetries of chaotic flows by replacing the original state space by a set of charts, each covering a neighborhood of a dynamically important class of solutions, qualitatively captured by a `template'. Together these charts provide an atlas of the symmetry-reduced `slice' of state space, charting the regions of the manifold explored by the trajectories of interest. Within the slice, relative equilibria reduce to equilibria and relative periodic orbits reduce to periodic orbits. Visualizations of these solutions and their unstable manifolds reveal their interrelations and the role they play in organizing turbulence/chaos., Comment: 12 Pages, 12 figures

Symmetry reduction by the method of slices is applied to pipe flow in order to quotient the stream-wise translation and azimuthal rotation symmetries of turbulent flow states. Within the symmetry-reduced state space, all travelling wave solutions reduce to equilibria, and all relative periodic orbits reduce to periodic orbits. Projections of these solutions and their unstable manifolds from their $\infty$-dimensional symmetry-reduced state space onto suitably chosen 2- or 3-dimensional subspaces reveal their interrelations and the role they play in organising turbulence in wall-bounded shear flows. Visualisations of the flow within the slice and its linearisation at equilibria enable us to trace out the unstable manifolds, determine close recurrences, identify connections between different travelling wave solutions, and find, for the first time for pipe flows, relative periodic orbits that are embedded within the chaotic attractor, which capture turbulent dynamics at transitional Reynolds numbers., Comment: 24 pages, 12 figures

We study continuous symmetry reduction of dynamical systems by the method of slices (method of moving frames) and show that a `slice' defined by minimizing the distance to a single generic `template' intersects the group orbit of every point in the full state space. Global symmetry reduction by a single slice is, however, not natural for a chaotic / turbulent flow; it is better to cover the reduced state space by a set of slices, one for each dynamically prominent unstable pattern. Judiciously chosen, such tessellation eliminates the singular traversals of the inflection hyperplane that comes along with each slice, an artifact of using the template's local group linearization globally. We compute the jump in the reduced state space induced by crossing the inflection hyperplane. As an illustration of the method, we reduce the SO(2) symmetry of the complex Lorenz equations., Comment: to appear in "Comm. Nonlinear Sci. and Numer. Simulat. (2011)" 12 pages, 8 figures

Equilibrium, traveling wave, and periodic orbit solutions of pipe, channel, and plane Couette flows can now be computed precisely at Reynolds numbers above the onset of turbulence. These invariant solutions capture the complex dynamics of wall-bounded rolls and streaks and provide a framework for understanding low-Reynolds turbulent shear flows as dynamical systems. We present fluid dynamics videos of plane Couette flow illustrating periodic orbits, a close pass of turbulent flow to a periodic orbit, and heteroclinic connections between unstable equilibria., Comment: Short paper accompanying video submitted to the Gallery of Fluid Motion for the 2008 meeting of the APS Division of Fluid Dynamics

We present ten new equilibrium solutions to plane Couette flow in small periodic cells at low Reynolds number (Re) and two new traveling-wave solutions. The solutions are continued under changes of Re and spanwise period. We provide a partial classification of the isotropy groups of plane Couette flow and show which kinds of solutions are allowed by each isotropy group. We find two complementary visualizations particularly revealing. Suitably chosen sections of their 3D-physical space velocity fields are helpful in developing physical intuition about coherent structures observed in low Re turbulence. Projections of these solutions and their unstable manifolds from their infinite-dimensional state space onto suitably chosen 2- or 3-dimensional subspaces reveal their interrelations and the role they play in organizing turbulence in wall-bounded shear flows., Comment: 23 pages, 12 figures, Accepted for publication in J. Fluid Mechanics

Plane Couette flow transitions to turbulence for Re~325 even though the laminar solution with a linear profile is linearly stable for all Re (Reynolds number). One starting point for understanding this subcritical transition is the existence of invariant sets in the state space of the Navier Stokes equation, such as upper and lower branch equilibria and periodic and relative periodic solutions, that are quite distinct from the laminar solution. This article reports several heteroclinic connections between such objects and briefly describes a numerical method for locating heteroclinic connections. Computing such connections is essential for understanding the global dynamics of spatially localized structures that occur in transitional plane Couette flow. We show that the nature of streaks and streamwise rolls can change significantly along a heteroclinic connection., Comment: 11 pages, 4 figures, to be submitted to Journal of Fluid Mechanics

Lower-branch traveling waves and equilibria computed in pipe flow and other shear flows appear intermediate between turbulent and laminar motions. We take a step towards connecting these lower-branch solutions to transition by deriving a numerical method for finding certain special disturbances of the laminar flow in a short pipe. These special disturbances cause the disturbed velocity field to approach the lower-branch solution by evolving along its stable manifold. If the disturbance were slightly smaller, the flow would relaminarize, and if slightly larger, it would transition to a turbulent state.

Motivated by recent experimental and numerical studies of coherent structures in wall-bounded shear flows, we initiate a systematic exploration of the hierarchy of unstable invariant solutions of the Navier-Stokes equations. We construct a dynamical, 10^5-dimensional state-space representation of plane Couette flow at Re = 400 in a small, periodic cell and offer a new method of visualizing invariant manifolds embedded in such high dimensions. We compute a new equilibrium solution of plane Couette flow and the leading eigenvalues and eigenfunctions of known equilibria at this Reynolds number and cell size. What emerges from global continuations of their unstable manifolds is a surprisingly elegant dynamical-systems visualization of moderate-Reynolds turbulence. The invariant manifolds tessellate the region of state space explored by transiently turbulent dynamics with a rigid web of continuous and discrete symmetry-induced heteroclinic connections., Comment: 32 pages, 13 figures submitted to Journal of Fluid Mechanics

A variational principle for determining unstable periodic orbits of flows as well as unstable spatio-temporally periodic solutions of extended systems is proposed and implemented. An initial loop approximating a periodic solution is evolved in the space of loops toward a true periodic solution by a minimization of local errors along the loop. The ``\descent'' partial differential equation that governs this evolution is an infinitesimal step version of the damped Newton-Raphson iteration. The feasibility of the method is demonstrated by its application to the H\'enon-Heiles system, the circular restricted three-body problem, and the Kuramoto-Sivashinsky system in a weakly turbulent regime., Comment: 10 pages, 5 figures

We introduce a new variational method for finding periodic orbits of flows and spatio-temporally periodic solutions of classical field theories, a generalization of the Newton method to a flow in the space of loops. The feasibility of the method is demonstrated by its application to several dynamical systems, including the Kuramoto-Sivashinsky system., Comment: 14 pages, 13 figures; in N. Antoniou, ed., Proceed. of 10. Intern. Workshop on Multiparticle Production: Correlations and Fluctuations in QCD (World Scientific, Singapore 2003)