3D2D Fluids PDF

Twistor theory and uids
Complex techniques for 3D applied mathematics and

applications to viscous ow
William T. Shaw
shaww@maths.ox.ac.uk
O.C.I.A.M., Mathematical Institute, Oxford
Twistor theory and uids p. 1/41
Paper and Acknowledgements
Complex Variable Methods for 3D Applied

Mathematics: 3D Twistors and an application to
Stokes Flow
Paper at (for now - KCL from Jan 2006):
www.maths.ox.ac.uk/shaww/uids.pdf

Stokes Flow
Bateman, Whittaker, Penrose, Hitchin, Mason


Stokes Flow
Bateman, Whittaker, Penrose, Hitchin, Mason
Technology translation for applied mathematics

of NH work.
Plan of Talk
Topics to look at:
Remedial Fluid Dynamics

Plan of Talk
Topics to look at:
Characterization of Navier-Stokes
Plan of Talk
Topics to look at:
Summary of 3D Twistor Methods

Plan of Talk
Topics to look at:
Laplaces Equation
Plan of Talk
Topics to look at:
Laplaces Equation
Biharmonic Equation
Plan of Talk
Topics to look at:
Laplaces Equation
Biharmonic Equation
(Reduction to 2D - skip here, in paper)

Plan of Talk
Topics to look at:
Laplaces Equation
Biharmonic Equation
(Reduction to 2D - skip here, in paper)
Contour Integrals for Axis-symmetric Stokes

Stream Function
Remedial Fluids
A large class of uids can be characterized by their
density, , a scalar eld not presumed to be constant,
and their dynamic viscosity . The ow is
characterized by a velocity vector eld v, and an
associcated scalar pressure eld p. Conservation of
mass is expressed by the continuity equation
t
+.(v) = 0 (1)
and the conservation of momentum is expressed by
the Navier-Stokes equations
(
v
t
+ v.v) = p +
2
v (2)
Incompressibility
If the uid is incompressible in the sense that is a
constant in both time and space, we have the
condition:
.v = 0 (3)
To analyse matters further, we introduce the vorticity
vector
= v (4)
We demand incompressibility but allow for non-zero
vorticity. We let
H = p +
1
2
v
2
(5)
Recasting of Navier-Stokes
If .v = 0 then
2
v = . Use the identity
(
1
2
v.v) = v.v + v (6)
Recast Navier-Stokes equations as
(
v
t
v ) +H = . (7)
Taking curl, we get vorticity equation
t
+ v. .v =
2
(8)
where kinematic viscosity = /.
Vector potential
Since the velocity eld is divergence-free, we may
introduce a vector potential such that
v = (9)
and furthermore we may choose it so that it is
divergence free (a gauge condition):
. = 0 (10)
It is perhaps a tacet assumption of uid dynamics that
this object is of no use except when it can be reduced
to a single function. For example, planar 2D ow is
obtained by setting (gauge condition guaranteed)
= (x, y)e
z
(11)
Good idea in 3D too
We note that under the assumption that satises
. = 0
=
2
(12)
and the vorticity equation becomes, denoting

t
by :
4
=
1
_
(( )
2
) +
2

_
(13)
Well-known in the 2D planar case where it reduces to:
4
=
1
_
(,
2
)
(x, y)
+
2

_
(14)
Difcult (impossible?) Goal
Can we:
Understand
Can we:
Understand
Solve in 2D (e.g. more insight into K. Rangers

work)
Can we:
Understand

work)
In 3D, generalize and solve the 3D analogue of

complex 2D (steady state) form:
Can we:
Understand

work)

i

4
w
2
w
2
=
1
2
_
w w
2

w
w
2
w
_
(18)
Can we:
Understand

work)

i

4
w
2
w
2
=
1
2
_
w w
2

w
w
2
w
_
(19)
w = x + iy - bad idea to use z here!

Potential Flow
Here is zero and
2
= 0. Vorticity equation
satised as identity.
The potential is
(r) =
_
r
( ).dr
(20)
and is harmonic conjugate of in 2D case.
2
= 0 ,
2
= 0 (21)
The biharmonic limit
When viscosity , ignore non-linearities.
Time-independent Navier-Stokes equations reduce to
4
= 0 (22)
which is the biharmonic limit, also known as Stokes
ow. We want to understand the holomorphic
structure for the 3D vector version of:
w
2
w
2
= 0 (23)
Key issues: what do we do about w = x +iy when we
also have a z? How can we make it all holomorphic
when we have all these w littered around?
Holomorphic methods for 3D
We need a new picture to proceed. It is very well
known that the Laplace equation can be solved in
terms of holomorphic functions in two dimensions.
Among devotees of twistor methods, and students of
Bateman, Whittaker, it is known that this can be
carried out in three dimensions. Want to extend to the
biharmonic case. This can be done. This is at least an
opportunity to explain how to use complex methods in
3 dimensions. In 2D we let w = x + iy. What if we
also have a z? (Never put z = x + iy!) But what
complex structure do we use? The key is twistor
space for 3D, a la N. Hitchin.
Twistor space for 3D
The twistor space associated with R
3
is rst, as a real
space, the set of oriented straight lines in R
3
. Relative
to some origin O, let r denote the position vector of
the point on a given line nearest to O. Then r is
orthogonal to the the direction of the line, which we
denote by u with u.u = 1. So the set of oriented
straight lines is the set
TS
2
=
_
(r, u) R
3
S
2
| r.u = 0
_
(24)
This tangent bundle for the unit sphere is also the
tangent bundle to a complex manifold, S
2
is the
Riemann sphere CP
1
. TCP
1
is our twistor space.
Dening Points I
How do we dene a point in ordinary space in terms
of structure on TCP
1
. A point may be regarded as the
intersection of all straight lines through it. So a point
is necessarily some vector eld in TCP
1
that is
dened globally.
Dening Points II
To see the implications of this we introduce two open
sets that cover CP
1
. We can take coordinates for the
sphere as on one patch (covering everything except
innity), and

= 1/ on another patch, covering
everything except = 0. Over each of these
respective patches we can dene coordinates for the
tangent bundle as (, ) and ( ,

), where the relevant
vector elds are, respectively
(25)
Dening Points III
Consider now a holomorphic vector eld. On the
patch it can be written as
f
0
()

(26)
for some f
0
, and on the

patch, it can be written as
f
1
(
(27)
for some f
1
.
Dening Points IV
On the intersection of the two patches we have:
f
1
(
1
)(
2
)

= f
0
()

(28)
Taylor series expansion of both functions,
f
i
() =
n=0
a
i
n
n
, we deduce that the coefcients
a
i
n
vanish if n > 2. Global vector elds must be of the
form, for example on the patch:
() = a + b + c
2
(29)
Quadratics are only global holomorphic vector elds,
correspond to points of C
3
.
Summary of reality and metric
Further analysis allows the identication of real points
in R
3
, and the construction of a natural metric. The
points are real if and only if
c = a AND b = b (30)
Metric discriminant of the quadratic. Normalize as
ds
2
= dx
2
+ dy
2
+ dz
2
=
1
4
db
2
dadc (31)
The metric for real points:
ds
2
= dx
2
+ dy
2
+ dz
2
=
1
4
db
2
+ dada (32)
The nal point correspondence
If we pick our coordinate system such that the real
part of a is x, we see that we can take the imaginary
part of a to be y and set b = 2z. The convention is
to set:
r
() = (x + iy) + 2z (x iy)
2
(33)
This gives us the correspondence between real points
in 3D and global holomorphic vector elds
The scalar Laplace equation
We consider a function f(, ) dened on twistor
space. This can then be thought of as restricted to the
special global sections of twistor space represented by
r
(), and the -dependence integrated out by
integration over a contour C. We set:
(r) =
_
C
f(
r
(), )d (34)
Note that what really matters is f modulo other
functions that are holomorphic inside or outside C.
Cauchys Theorem ensures that these do not
contribute.
Laplace II
It is easy to check that satises the scalar Laplaces
equation. Observe that
k
f(
r
(), )
x
k
= (1
2
)
k
k
f
k
|
=
r
(35)
k
f(
r
(), )
y
k
= i
k
(1 +
2
)
k
k
f
k
|
=
r
(36)
k
f(
r
(), )
z
k
= (2)
k
k
f
k
|
=
r
(37)
and that adding these three expressions with k = 2
gives zero identically for any choice of f.
Not just a modal trick
It would be wrong to think that this is just a trick for
building modes that solve Laplaces equation and
then adding them up by integration. There is much
more to it than that. See NH Monopoles paper -
consider curves in twistor space and eld of
osculating quadratics. The real part of this solves the
minimal surface problem. This is another story - but
the point is that the geometric structure is very
important.
The scalar biharmonic equation
How do we modify the integrand f(
r
(), ), say to
some holomorphic function g, to arrange that
4
g = 0 but
2
g = 0? We try to build h from f by
multiplying by some prefactor h(r, ), so that
g = h(r, )f(
r
(), ) (38)
Now
2
g = f
2
h + h
2
f + 2h.f (39)
That is, as f satises Laplace equation:
2
g = f
2
h + 2h.f (40)
Biharmonics II
If we furthermore choose h to be linear in r matters
simplify further and we have
2
g = 2h.f (41)
Let us set, w.l.o.g., h = u().r, so that h = u().
We also note that
f =
f
=
f
(1
2
, i(1 +
2
), 2). (42)
Biharmonics III
Putting this all together, we arrive at
2
g = 2u().(1
2
, i(1+
2
), 2)
f
= 2
u()
()
f
(43)
We can now see that
2
of this last expression
vanishes identically, while this expression does not
itself vanish unless
u()
() 0. (44)
Biharmonics IV
To see what is happening, we can now make matters
more explicit. We let u() = (u
1
(), u
2
(), u
3
()),
then
u.r = u
1
()x + u
3
()y + u
3
()z (45)
and
u()
() = (u
1
()+iu
2
())+2u
3
()(u
1
()iu
2
())
2
(46)
Biharmonics V
In terms of these variables the proposed integral
representation for solutions of the 3D scalar
biharmonic equation is just
=
_
C
d
_
xu
1
() + yu
2
() + zu
3
()
_
f(
r
(), )
(47)
or indeed, with w = x + iy:
=
1
2
_
C
d
_
wg
()+ wg
+
()+2zu
3
()
_
f(
r
(), )
(48)
where g
() = u
1
() iu
2
())
Relationship to 2D
Suppose we want no z-dependence. Set u
3
= 0 and
w = x + iy:
=
_
C
d
_
wg
() + wg
+
()
_
f(
r
(), ) (49)
= w
_
C
df
1
(
r
(), ) + w
_
C
df
2
(
r
(), ) (50)
Consider second term. This is w(x, y, z), where
(x, y, z) =
_
C
df
2
(
r
(), ) (51)
is a solution of Laplaces equation.
Relationship to 2D II
(x, y, z) =
_
C
df
2
(
r
(), ) (52)
We want this not to depend on z either. But this looks
awkward given
r
() = (x + iy) + 2z (x iy)
2
.
Actually it is not!
(x, y, z + h/2) =
_
C
df
2
(
r
() + h, ) (53)
The equation we need is
(x, y, z + h/2) = (x, y, z) (54)
Relationship to 2D III
This does not require that
f
2
(
r
() + h, ) = f
2
(
r
(), ) (55)
Instead we need
f
2
(
r
()+h, ) = f
2
(
r
(), )+g
0
(, , h)g
1
(, , h)
(56)
where g
0
is holomorphic on and inside C and g
1
is
likewise outside. (Cauchy!) Lets take C to be unit
circle. Now differentiate w.r.t h then set h = 0.
f
2
= G
0
(, ) G
1
(, ) (57)
Relationship to 2D IV
Integrated w.r.t. and divide by .
f
2
=
H
0
(, )

H
1
(, )
(58)
Now evaluate the integral using calculus of residues.
First term is easy, get
2iH
0
(
r
(0), 0) = K(w) (59)
and a contribution to the eld of wK(w). Calculation
of second piece gives another function of w, to be
multiplied by w. Other terms; we get
= wK(w) + wH( w) + w

K( w) + w

H(w) (60)
Relationship to 2D V
A fully holomorphic picture in 3D projects to 2D
picture and generates the familiar yet supercially
non-holomorphic 2D representation of solutions to
biharmonic and Laplace equations. In 3D our
functions are contour integrals.
Axis-symmetric Stokes Flow
This is traditionally modelled in terms of the Stokes
stream function
S
(r, ). The components of the
velocity eld are given by
u
r
=
1
r
2
sin()
, u
=
1
r sin()
S
r
(61)
What this representation is really telling us, as is
made clear in modern uid theory, is that the vector
potential for the ow is given by
=

S
r sin()
e
(62)
The PDE
For an axis-symmetric function f(r, )
(
f
r sin()
e
) =
1
r sin()
(D
2
f)e
(63)
where the operator D
2
is given by
D
2
f =

2
f
r
2
+
sin()
r
2
_
1
sin()
f
_
(64)
The biharmonic condition may be expressed as the
scalar PDE
D
4
S
= 0 (65)
Going to Cartesian Basis
e
=
ye
x
+ xe
y
_
x
2
+ y
2
=
ye
x
+ xe
y
r sin()
=
1
r sin()
{w[ie
x
+e
y
]}
(66)
where w = x + iy as before.
=

S
r sin()
e
(67)
and if
S
is real we can write the vector potential as
=
_

S
w
r
2
sin
2
()
[ie
x
+ e
y
]
_
(68)
Cartesian Analysis
Cartesian components must satisfy the scalar
biharmonic equation
S
= r
2
sin
2
()g(r, ) = w w
1
2i
_
d
1
f
_
_
(69)
for some complex function f. f can be expanded as a
Laurent series:
S
= w w
1
2i
_
d
n=
a
n
n+1
(w + 2z w
2
)
n
(70)
The terms in the series can be evaluated in terms of
Legendre functions.
Adding Harmonic Components
A corresponding analysis of the purely harmonic
pieces gives their contribution as
SH
=
w
2i
_
d
_
_
+
w
2i
_
d
1
_
(71)
for some choice of complex functions and . Can
be worked out in spatial terms.
The Stokes stream function
The contour integral solution for the Stokes stream
function for axis-symmetric biharmonic ow:
S
= w w
1
2i
_
d
1
f
_
_
+
w
2i
_
d
_
_
+
w
2i
_
d
1
_
(72)
where is written in terms of x, y, z and where f, ,
have Laurent series expansions that generate
expansions in terms of powers of r and regular (f)
and modied (, ) functions.
Simple Twistor Functions
f constant gives a contribution to
S
proportional to
w w = r
2
sin
2
() (73)
f(z) = 1/z gives a Coulomb eld and a contribution
to
S
proportional to
w w
r
= r sin
2
() (74)
(z) = 1/z
2
, a contribution to
S
of the form
w w
r
3
=
1
r
sin
2
() (75)
Does it all add up?
The particular combination
S
=
U
2
sin
2
()
_
r
2
3ar
2
+
a
3
2r
_
(76)
gives the well-known stream function for very viscous
ow around a sphere of radius a and uniform ow at
at rate U at innity. In general we have a novel
technique for solving the PDE
D
4
S
= 0 (77)
Where next?
More serious explicit solution representations

Where next?
Can we add non-ininte viscosity somehow?

Where next?
Clearer ideas about 2D NS? (work by Ranger)

Where next?
3D NS? (work by Roulstone)

Where next?

Where next?


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Twistor theory and uids

Complex techniques for 3D applied mathematics and

Complex Variable Methods for 3D Applied

Complex Variable Methods for 3D Applied

Bateman, Whittaker, Penrose, Hitchin, Mason

Complex Variable Methods for 3D Applied

Bateman, Whittaker, Penrose, Hitchin, Mason

Technology translation for applied mathematics

Remedial Fluid Dynamics

Remedial Fluid Dynamics

Remedial Fluid Dynamics

Summary of 3D Twistor Methods

Remedial Fluid Dynamics

Summary of 3D Twistor Methods

Remedial Fluid Dynamics

Summary of 3D Twistor Methods

Remedial Fluid Dynamics

Summary of 3D Twistor Methods

(Reduction to 2D - skip here, in paper)

Remedial Fluid Dynamics

Summary of 3D Twistor Methods

(Reduction to 2D - skip here, in paper)

Contour Integrals for Axis-symmetric Stokes

Solve in 2D (e.g. more insight into K. Rangers

Solve in 2D (e.g. more insight into K. Rangers

In 3D, generalize and solve the 3D analogue of

Solve in 2D (e.g. more insight into K. Rangers

In 3D, generalize and solve the 3D analogue of

Solve in 2D (e.g. more insight into K. Rangers

In 3D, generalize and solve the 3D analogue of

w = x + iy - bad idea to use z here!

More serious explicit solution representations

More serious explicit solution representations

Can we add non-ininte viscosity somehow?

More serious explicit solution representations

Can we add non-ininte viscosity somehow?

Clearer ideas about 2D NS? (work by Ranger)

More serious explicit solution representations

Can we add non-ininte viscosity somehow?

Clearer ideas about 2D NS? (work by Ranger)

3D NS? (work by Roulstone)

More serious explicit solution representations

Can we add non-ininte viscosity somehow?

Clearer ideas about 2D NS? (work by Ranger)

3D NS? (work by Roulstone)

More serious explicit solution representations

Can we add non-ininte viscosity somehow?

Clearer ideas about 2D NS? (work by Ranger)

3D NS? (work by Roulstone)

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