Unsteady flow of a generalized Oldroyd-B fluid using a director theory approach FERNANDO CARAPAU Universidade de Évora Dept. Matemática and CIMA/UE R. Romão Ramalho, 59, 7001-651, Évora PORTUGAL [email protected] ADÉLIA SEQUEIRA Instituto Superior Técnico Dept. Matemática and CEMAT/IST Av. Rovisco Pais, 1049-001, Lisboa PORTUGAL [email protected] Abstract: Using a 1D model based on the Cosserat theory which reduces the exact three-dimensional equations to a system of partial differential equations depending on time and on a single spatial variable, we analyze the axisymmetric unsteady flow of an incompressible viscoelastic generalized Oldroyd-B fluid with shear-dependent viscosity. In this study we consider an uniform rectilinear pipe with circular crosssection and give the relationship between average pressure gradient and volume flow rate over a finite section of the pipe and the corresponding equation of the wall shear stress. An application to blood flow is also given in the steady case. Key–Words: Cosserat theory, generalized Oldroyd-B fluid, steady solution, shear-thinning flow, volume flow rate, average pressure gradient, blood flow. 1 Introduction Blood is a very complex fluid and the mathematical modeling of blood flow is a difficult and challenging problem. Blood is a suspension of particles (red blood cells, white blood cells and platelets) in a fluid called plasma and the vessels can be regarded as elastic (or mildly viscoelastic) tubes with different scales. Blood flow interacts with the vessel wall and can be modeled using a fluid-structure interaction problem (see e.g. [20]). In large arteries blood may be considered as an homogeneous fluid, with the standard Newtonian behavior. However, blood exhibits nonNewtonian charateristics mainly due to shearthinning viscosity (i.e. the viscosity decreases with increasing shear rate) and viscoelasticity related to stress relaxation and normal stress difference effects. In particular, in the case of small arteries, arterioles and venules, the microstructure and rheological behavior of blood should not be neglected since the dimension of the blood particles are of the same order of that of the vessels. Phenomena like aggregation and deformability of red blood cells have great influence on the rheological behavior of blood, specially on its viscosity at low shear rates, and blood can be modelled as an homogeneous shear-thinning and viscoelastic fluid (see e.g. [3], [22], [23]). In this paper we introduce a one-dimensional model for viscoelastic non-Newtonian generalized Oldrody-B flows in an axisymmetric pipe with circular cross-section, based on the director approach (Cosserat theory) with nine directors developed by Caulk and Naghdi [9]. The theoretical basis of this approach (see Cosserat [10], [11], based on the work of Duhen [12]) is to consider an additional structure of deformable vectors (called directors) assigned to each point on a space curve (the Cosserat curve). With this approach and integrating the axial component of linear momentum for the flow field over the pipe cross-section, the 3D system of equations is replaced by a system of partial differential equations which, apart from the dependence on time, depends only on a single spatial variable. Using this one-dimensional Cosserat theory we can predict some of the main properties of the three-dimensional problem. For additional background information, the Cosserat theory has been used in studies of rods, plates and shells, see e.g. Ericksen and Truesdell [13], Truesdell and Toupin [24], Green et al. [17], [16] and Naghdi [19]. Later, this theory has been developed by Caulk and Naghdi [9], Green and Naghdi [18], and Green et al. [15] in studies of unsteady and steady flows, related to fluid dynamics. Recently, the nine-director approach has been applied to blood flow in the arterial system by Robertson and Sequeira [21] and also by Cara- pau and Sequeira [6], [7], [8], considering Newtonian and non-Newtonian flows. In this work we study the initial boundary value problem of an incompressible homogeneous generalized Oldroyd-B fluid model in a straight circular rigid and impermeable small vessel with constant radius (see e.g. [4], [5] for further discussion) where the fluid velocity field given by the director theory can be approximated by the following finite series1: v∗ = v + k X xα1 . . . xαN W α1 ...αN , (1) N =1 Figure 1: Fluid domain Ω with the components of the surface traction vector τ1 , τ2 and pe . Γw is the lateral wall of the pipe with equation φ(z, t), and Γ1 , Γ2 are the upstream part and downstream districts of the pipe, respectively. with v = vi (z, t)ei , W α1 ...αN = Wαi 1 ...αN (z, t)ei . (2) Here, v represents the velocity along the axis of symmetry z at time t, xα1 . . . xαN are the polynomial weighting functions with order k (the number k identifies the order of hierarchical theory and is related to the number of directors), the vectors W α1 ...αN are the director velocities which are completely symmetric with respect to their indices and ei are the associated unit basis vectors. From this velocity field approach, we obtain the unsteady relationship between average pressure gradient and volume flow rate, and the correspondent equation for the wall shear stress. Our goal is to develop a nine-director theory (k = 3 in (1)) for the steady flow of a generalized Oldroyd-B fluid in a straight pipe with constant radius, to compare the average pressure gradient for different values of both Reynolds and Weissenberg numbers. at z and time t. The components of the threedimensional equations governing the motion of a generalized Oldroyd type fluid (with sheardependent viscosity) are given in Ω × (0, T ) by2 ∗ ∂v ρ + v,i∗ v∗i = ti,i , ∂t ∗ vi,i = 0, ti = −p∗ ei + σij ej , t = ϑ∗i ti , λ2 O σeij + λ1 σ Dij , = 2 µ(| γ̇|) − eij λ1 with the initial condition v ∗(x, 0) = v 0 (x) in Ω, Formulation Problem of the Model Let us consider a homogeneous fluid inside a circular straight and impermeable pipe, the domain Ω ⊂ R3 , with boundary ∂Ω composed by the proximal cross-section Γ1 , the distal cross-section Γ2 and the lateral wall Γw , see Fig.1. Let xi (i = 1, 2, 3) be the rectangular Cartesian coordinates and for convenience set x3 = z. Consider the axisymmetric motion of an incompressible fluid without body forces, inside a surface of revolution, about the z axis and let φ(z, t) denote the instantaneous radius of that surface 1 Latin indices subscript take the values 1, 2, 3, Greek indices subscript 1, 2. Summation convention is employed over a repeated index. (4) and the boundary condition v∗ (x, t) = 0 on Γw × (0, T ), 2 (3) (5) where v ∗ = vi∗ei is the velocity field, ρ is thecon∗ + v∗ stant fluid density and Dij = 12 vi,j j,i are the components of the rate of deformation tensor D. Equation (3)1 represents the balance of linear momentum and (3)2 is the incompressibility condition. In equation (3)3, p∗ is the pressure and σij are the components of the (symmetric) extra stress tensor given by ∗ ∗ σij = µn vi,j + σeij , + vj,i where σeij are the components of its viscoelastic part. Here t denotes the stress vector on the surface whose outward unit normal is ϑ∗ = ϑ∗i ei , 2 ∗ ∗ ∗ We use the notation vi,j = ∂vi∗ /∂xj and v,i vi = vi∗ ∂v ∗ /∂xi adopted in Naghdi et al. [9], [14]. and ti are the components of t. In equation (3)4 O the symbol σeij represents the objective Oldroyd derivative of the tensor σeij given by (see e.g. [25]) O σeij ∂σeij ∂σeij ∗ ∗ + vk∗ + σeik vk,j − vj,k ∂t ∂xk h ∗ ∗ ∗ ∗ − vi,k σekj − a vi,k σekj − vk,i + vk,i i ∗ ∗ , (6) + σeik vk,j + vj,k = where a ∈ [−1, 1] is a real given parameter, µ(|γ̇|) : R+ → R+ is the shear-dependent viscosity function and γ̇ √ is the shear rate such that |γ̇| := 2D : D. The initial velocity field v 0 is assumed to be known. Finally, µn = (µλ2)/λ1 is the Newtonian viscosity and µ = µn + µe denotes the viscosity coefficient with µe = µ 1 − λ2 /λ1 = µλ the elastic viscosity, and λ1 and λ2 (with 0 6 λ2 < λ1) are the relaxation and the retardation times, respectively. Models with λ2 = 0 are called of ”Maxwell type” and those with λ2 > 0 of ”Jeffreys type”. Oldroyd-B fluids correspond to Jeffreys type fluids with a = 1 (in equation (6)) and Oldroyd-A fluids correspond to a = −1. The lateral surface Γw of the axisymmetric domain is defined by φ2 = xα xα , (7) and the components of the outward unit normal to this surface are ϑ∗α = xα φ 1 + φ2z ∗ 1/2 , ϑ3 = − φz 1 + φ2z 1/2 , (8) where a subscript variable denotes partial differentiation. Since equation (7) defines a material surface, the velocity field must satisfy the condition3 d 2 φ − xα xα = 0. dt As a consequence φφt + φφz v3∗ − xα vα∗ = 0 (9) at the boundary (7). Let us consider S(z, t) as a generic axial section of the domain at time t defined by the spatial variable z and bounded by the circle defined in (7) 3 d (·) is the material time derivative. dt and let A(z, t) be the area of this section S(z, t). The volume flow rate Q is defined by Z Q(z, t) = v3∗(x1 , x2, z, t)da, (10) S(z,t) and the average pressure p̄ is defined by Z 1 p̄(z, t) = p∗(x1 , x2, z, t)da. A(z, t) S(z,t) (11) In what follows, this general framework will be applied to the specific case of the nine-director theory in a rigid pipe, i.e. φ = φ(z). Using condition (1), with k = 3, it follows from Caulk and Naghdi [9] that the approximation for the threedimensional velocity field v∗ is given by h x2 + x2 2φz Q i v ∗ = x1 1 − 1 2 2 e1 φ πφ3 h x2 + x2 2φz Q i e2 + x2 1 − 1 2 2 φ πφ3 h 2Q x21 + x22 i 1 − e3 + (12) πφ2 φ2 where the volume flow rate Q(t) is π Q(t) = φ2 (z)v3(z, t). (13) 2 We remark that the initial condition (4) is satisfied when Q(0) = ct. The stress vector on the lateral surface Γw in terms of the outward unit normal and tangential components (see Fig.1) is given by tw = τ1 λ − pe ϑ∗ + τ2eθ , (14) where λ, eθ are unit tangent vectors defined by xα eθ = (15) eαβ eβ , λ = ϑ∗ × eθ , φ so that λ, ϑ∗, eθ form a right-handed triad, with eαβ the permutation symbol defined by e11 = e22 = 0, e12 = −e21 = 1. Now, with the help of equations (8) and (15), the expression for the stress vector (14) can be rewritten as h 1 tw = τ 1 x1 φz − p e x1 φ(1 + φ2z )1/2 i − τ2 x2 (1 + φ2z )1/2 e1 h 1 τ 1 x2 φz − p e x2 + φ(1 + φ2z )1/2 i + τ2 x1 (1 + φ2z )1/2 e2 i h 1 τ e3. (16) + + p φ 1 e z (1 + φ2z )1/2 where τ1 represents the wall shear stress in the axial direction of the flow. Instead of satisfying the momentum equation (3)1 pointwise in the fluid, we impose the following integral conditions Z h i ∂v∗ ti,i − ρ (17) + v ∗,i vi∗ da = 0, ∂t S(z,t) Z h ∂v∗ ti,i − ρ ∂t S(z,t) + v∗,i vi∗ i xα1 . . . xαN da = 0, (18) where N = 1, 2, 3. Using the divergence theorem and integration by parts, equations (17) − (18) for nine directors, can be reduced to the four vector equations: ∂n + f = a, ∂z (19) ∂mα1 ...αN + lα1 ...αN = kα1 ...αN + bα1 ...αN , (20) ∂z where n, k α1 ...αN , mα1 ...αN are resultant forces defined by Z Z α n= t3 da, k = tα da, (21) S tα xβ + tβ xα da, kαβγ = (22) S Z tα xβ xγ + tβ xα xγ + tγ xαxβ da, (23) S mα1 ...αN = Z t3 xα1 . . . xαN da. (24) S The quantities a and bα1 ...αN are inertia terms defined by Z ∗ ∂v a= (25) ρ + v ∗,i vi∗ da, ∂t S Z ∗ ∂v α1 ...αN b = ρ + v∗,i vi∗ xα1 . . . xαN da, (26) ∂t S and f , lα1 ...αN , which arise due to surface traction on the lateral boundary, are defined by Z 1/2 f= 1 + φ2z tw ds, (27) ∂S l α1 ...αN = Z Results and Discussion In this section we apply the director theory approach with nine directors to both Oldroyd-B and generalized Oldroyd-B models, to capture the effects of the shear-dependent viscosity in a straight circular rigid and impermeable walled pipe with constant radius, i.e. φ = ct. As will be seen later equation (3)4 introduces some difficulties in handling the general case φ = φ(z). 3.1 Oldroyd-B fluids Using a constant viscosity µ0 in equation (3)4, we obtain the Oldroyd type fluid model. We Replace the solutions of equations (21) − (28) into equations (19) − (20) to obtain the relationship between average pressure and volume flow rate in a rigid axisymmetric straight pipe with constant radius φ, given by 1 + φ2z 1/2 tw xα1 . . . xαN ds. (28) ∂S The equation relating the average pressure gradient with the volume flow rate will be obtained using these quantities (21) − (28). 8µn 4ρ Q̇(t) Q(t) − πφ4 3πφ2 2 4 (ψ33)z − 4 ($33)z φ2 φ 1 4 (ψ11)z + 4 ($11)z , (29) φ2 φ p̄z (z, t) = − + − S Z kαβ = 3 where the functions ψij and $ij are defined by4 Z Z β ψij = σeij da, $ij δα = σeij xα xβ da, S S the viscoelastic part of the stress tensor (due to compatibity conditions) takes the particular form 0 0 σe11 σe = 0 (30) σe11 0 , 0 0 σe33 and, the corresponding wall shear stress τ1 is given by τ1 = + − 4µn ρ 1 Q(t) + Q̇(t) − (ψ33)z 3 πφ 6πφ 2πφ 2 1 ($33)z + (ψ11)z 3 πφ 2πφ 2 ($11)z . (31) πφ3 We consider now the following dimensionless variables5 x x̂ = , φ̂ = 1, t̂ = ω0 t, φ 4 β δα 5 is the two-dimensional Kronecker symbol. In cases where a steady flow rate is specified, the nondimensional flow rate Q̂ is identical to the classical Reynolds number used for flow in pipes, see [21]. Q̂ = 2ρ φ2 ρ φ2 ρ Q, p̄ˆ = 2 p̄, σˆe = 2 σe , πφµ µ µ where ω0 is a characteristic frequency for unsteay flow. Substituting these dimensionless variables into equations (29) and (3)4, we obtain, respectively 2 ˙ = −4 1 − λ Q̂(t̂) − W02 Q̂(t̂) + 2 ψ̂33 ẑ 3 − 4 $̂33 ẑ − ψ̂11 ẑ + 4 $̂11 ẑ , (32) p̄ˆẑ and O σ̂eij + We σ̂ eij = 2λD̂ij (33) p where W0 = φ2 (ρω0)/µ is the Womersley number, which reflects the unsteady flow phenomena, We = λ1ω0 is the Weissenberg number, related with the flow viscoelasticity and Dij = µ D̂ij . φ2 ρ Substituting the given dimensionless variables into equation (31), we obtain τ̂1 fluid model. From, (30) and (33) (dimensionless forms), we obtain σˆe11 = σˆe22 = 0, φ2 ρ τ̂1 = 2 τ1. µ Integrating condition (32) over the interval [ẑ1, ẑ], with ẑ1 fixed, we obtain the following relationship between average pressure gradient and volume flow rate ˆ pp(ẑ, t) = p̄ˆ(ẑ, t) − p̄ˆ(ẑ1, t) (35) = 4 1 − λ Â1 (ẑ) Q̂(t̂) 2 2 ˙ + W0 Â2 (ẑ) Q̂(t̂) 3 + 2 ψ̂33(ẑ, t) − ψ̂33(ẑ1, t) B̂4 (ẑ) + 4 $̂33(ẑ, t) − $̂33(ẑ1, t) B̂5 (ẑ) + ψ̂11(ẑ, t) − ψ̂11(ẑ1, t) B̂6 (ẑ) + 4 $̂11(ẑ, t) − $̂11(ẑ1, t) B̂7 (ẑ), where Â1 (ẑ) = Â2 (ẑ) = B̂5 (ẑ) = B̂6 (ẑ) = ẑ1 − ẑ and B̂4 (ẑ) = B̂7 (ẑ) = ẑ − ẑ1 . Now, considering equations (34) and (35) in the steady case and fixing a = 1 in (6) we deal with the Oldrody-B (36) and 1 ˙ 1 = 2 1 − λ Q̂(t̂) + W02 Q̂(t̂) − (ψ̂33)ẑ 12 2π 2 1 2 + ($̂33)ẑ + (ψ̂11)ẑ − ($̂11)ẑ , (34) π 2π π where Figure 2: Nondimensional average pressure gradient (35) in the steady case of an Oldroyd-B fluid for different values of the Reynolds number (Q̂s = (0.001, 0.5, 1, 5, 10, 20)) and Weissenberg number (We = (0.01, 0.1, 1, 50, 100)). σˆe33 = exp . (37) ẑ We Q̂s x̂21 + x̂22 − 1 Using (36), (37) and the approximation exp ẑ We Q̂s ζ 2 − 1 ' exp − − ζ2 We Q̂s ẑ We Q̂s exp − ẑ We Q̂s we get ψ̂11 = $̂11 = 0, ẑ 1 πẑ ẑ ψ̂33 = π exp − − , exp − 2 We Q̂s We Q̂s We Q̂s and $̂33 = − 1 ẑ π exp − 4 We Q̂s 1 πẑ ẑ . exp − 6 We Q̂s We Q̂s Again due to compatibility conditions, these results are only valid when λ ' 0, i.e. λ1 ' λ2. Shown in Fig.2 is the normalized nine-director average pressure gradient steady solution (35) for an Oldroyd-B fluid for different values of Reynolds and Weissenberg numbers in [0, ẑ]. We conclude , havior of blood over a large range of shear rates but it has its limitations, since the relaxation times do not depend on the shear rate, which does not agree with experimental observations (see e.g. [1]). More recently, Arada and Sequeira [2] have studied the existence of strong solutions for the steady case of a generalized Oldroyd-B fluid, where the viscosity function satisfies some regularity and growing conditions, and is given by the general expression q µ(|γ̇|) = µ∞ + µ0 − µ∞ 1 + |γ̇|2 . Figure 3: Nondimensional wall shear stress (34) of an Oldroyd-B fluid in the steady case for different values of the Reynolds number (Q̂s = (5, 10, 20)) and Weissenberg number (We = (0.0001, 0.001, 0.01, 0.1)). that the behavior of the steady solution with fixed Reynolds number does not change when we increase the Weissenberg number. However, with fixed Weissenberg number we can observe a slight change of the steady solution behavior, with increasing Reynolds number. Also, we compare the corresponding wall shear stress (34) for different values of the Reynolds and Weissenberg numbers, see Fig.3, and conclude that it undergoes a small perturbation for ẑ close to zero and We 0.001. However, for higher values of the Weissenberg number the wall shear stress becomes constant. 3.2 Generalized Oldroyd-B fluids The steady generalized Oldroyd-B fluid model (a = 1 in the objective Oldroyd derivative (6)) has been studied by some authors, using analytical and numerical approaches for different viscosity functions, in particular in view of applications to haemodynamics. For instance, Yeleswarapu el al. [26], used the shear-thinning viscosity function given by µ(|γ̇|) = µ∞ + µ0 − µ∞ h 1 + ln(1 + k|γ̇|) i , 1 + k|γ̇| where k is a positive material constant, and µ0 , µ∞ (with µ∞ < µ0 ) are the asymptotic apparent viscosities as |γ̇| → 0 and |γ̇| → ∞, respectively. This viscosity function has been obtained by fitting experimental data in uni-directional flows and generalizing such curve fits to threedimensions. It captures the shear-thinning be- If q = 0, the Oldroyd-B fluid with constant viscosity is recovered. Moreover, if q < 0 the viscosity has shear-thinning behavior and is shearthickening (viscosity increases with shear rate) if q > 0. This general model can also be considered as a good approach of blood flow in small and medium sized arteries where the shear-thinning and viscoelastic behavior of blood should not be omitted, see e.g. [22]. In our work, we consider this general viscosity function µ(|γ̇|) with asymptotic apparent viscosities µ0 and µ∞ as |γ̇| → 0 and |γ̇| → ∞, respectively. Using equation (3)4, i.e. λ2 ∗ O ∗ σeij + λ1 σ eij = µ(|γ̇|) − vi,j + vj,i λ1 we can relate the viscoelastic components σeij with the velocity field (12), and with λ1 and λ2, for different values of a ∈ [−1, 1]. Now, with the nondimensional variables already defined in last section we get the same solution (32) for the pressure gradient, the same solution (34) for the wall shear stress, and 1 + We σ̂ eij = 2 µ |γ̇| − 1 − λ D̂ij (38) µ0 O σ̂eij where the viscoelastic part of the stress tensor (due to compatibity conditions) takes the particular form 0 0 σ̂e11 σ̂eij = 0 (39) σ̂e11 0 . 0 0 σ̂e33 From results (32), (38) and (39) in the steady case with fixed a = 1 in (6) we obtain the same solution (35) of the average pressure gradient in the steady flow, with the same values for the functions σˆe11 , σˆe33 and consequently for ψ̂11, ψ̂33, $̂11, $̂33. Again due to compatibility conditions between Figure 4: Nondimensional average pressure gradient (35) in the steady case of a generalized Oldroyd-B fluid for different values of the Reynolds number (Q̂s = (0.001, 0.5, 1, 5, 10, 20)) and Weissenberg number (We = (0.01, 0.1, 1, 50, 100)). Figure 5: Nondimensional wall shear stress (34) of a generalized Oldroyd-B fluid in the steady case for different values of the Reynolds number (Q̂s = (5, 10, 20)) and Weissenberg number (We = (0.0001, 0.001, 0.01, 0.1)). (38) and (39), these results for steady flow in a uniform rectilinear pipe are only valid when On the other hand for generalized Oldroyd-B fluids with shear-dependent viscosity, the directors approach is only possible with 1 µ |γ̇| − 1 − λ ' 0. µ0 1 µ |γ̇| − 1 − λ ' 0. µ0 In the limiting viscosity condition |γ̇| → 0, i.e. λ ' 0, we recover the Oldroyd-B fluid results. Here we present the results when |γ̇| → ∞, i.e. In the limit viscosity case |γ̇| → 0 (i.e. λ ' 0) we recover the Oldroyd-B fluid results. However, when |γ̇| → ∞, i.e. λ ' 1− µ∞ µ0 with the relevant parameters related to blood flow µ0 = 0.56 poise and µ∞ = 0.0345 poise (see e.g. [26] and cited references). Fig.4 shows that the nondimensional nine-director average pressure gradient steady generalized Oldroyd-B solution (35) for different values of Reynolds and Weissenberg numbers in [0, ẑ] has the same qualitative behavior as the Oldroyd-B solution, when |γ̇| → ∞, Fig.2. Analyzing the results of Fig.5 and Fig.3 for the steady nondimensional wall shear stress, we also conclude the same qualitative behavior. 4 Conclusion Unlike Newtonian, generalized Newtonian and second order fluids (see e.g. [9], [21], [6], [7], [8], respectively) where the 1D director approach has been applied without restrictions to rectilinear flows, in the case of Oldroyd-B fluids, the 1D theory is only possible when the relaxation and retardation times are close to each other, i.e. λ1 ' λ2. λ' 1− µ∞ , µ0 the results for generalized Oldroyd-B and Oldroyd-B fluids are qualitatively similar. The effects of the shear-thinning viscosity are mainly visible in terms of quantitative results. One of the possible extensions of this work is the application of the 1D director approach to blood flow in compliant straight and curved vessels. Acknowledgements: This work has been partially supported by projects POCTI/MAT/41898/2001, HPRN-CT-200200270 of the European Union and by the research centers CEMAT/IST and CIMA/UE, through FCT´s funding program. References: [1] M. Anand and K. R. Rajagopal, A shearthinning viscoelastic fluid model for describing the flow of blood, Int. J. Cardiovascular Medicine and Science, 4, 2004, pp. 59-68. [2] N. Arada, and A. Sequeira, Strong Steady Solutions for a generalized Oldroyd-B Model with Shear-Dependent Viscosity in a Bounded Domain, Mathematical Models & Mehods in Applided Sciences (M3AS), 13, no.9, 2003, pp. 1303-1323. [3] O.K. Baskurt, and H.J. Meiselman, Blood rheology and hemodynamics, Seminars in Trombosis and Hemostasis, 29, 2003, pp. 435-450. [4] F. Carapau, Development of 1D Fluid Models Using the Cosserat Theory. 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