Uniaxial experimental study of the acoustic emission and deformation behavior of composite rock based on 3D digital image correlation (DIC)

In this paper, uniaxial compression tests were carried out on a series of composite rock specimens with different dip angles, which were made from two types of rock-like material with different strength. The acoustic emission technique was used to monitor the acoustic signal characteristics of composite rock specimens during the entire loading process. At the same time, an optical non-contact 3 D digital image correlation technique was used to study the evolution of axial strain field and the maximal strain field before and after the peak strength at different stress levels during the loading process. The effect of bedding plane inclination on the deformation and strength during uniaxial loading was analyzed. The methods of solving the elastic constants of hard and weak rock were described. The damage evolution process, deformation and failure mechanism, and failure mode during uniaxial loading were fully determined. The experimental results show that the θ = 0?–45?specimens had obvious plastic deformation during loading, and the brittleness of the θ = 60?–90?specimens gradually increased during the loading process. When the anisotropic angle θincreased from 0?to 90?, the peak strength, peak strain,and apparent elastic modulus all decreased initially and then increased. The failure mode of the composite rock specimen during uniaxial loading can be divided into three categories:tensile fracture across the discontinuities(θ = 0?–30?), slid-ing failure along the discontinuities(θ = 45?–75?), and tensile-split along the discontinuities(θ = 90?). The axial strain of the weak and hard rock layers in the composite rock specimen during the loading process was significantly different from that of the θ = 0?–45?specimens and was almost the same as that of the θ = 60?–90?specimens. As for the strain localization highlighted in the maximum principal strain field, the θ = 0?–30?specimens appeared in the rock matrix approximately parallel to the loading direction,while in the θ = 45?–90?specimens it appeared at the hard and weak rock layer interface.     

Macro and micro mechanics behavior of granite after heat treatment by cluster model in particle flow code

In this paper, a cluster model in particle flow code was used to simulate granite specimens after heat treatment under uniaxial compression. The results demonstrated that micro-cracks are randomly distributed in the specimen when the temperature is below 300?C, and have partial coalescence when the temperature is up to 450?C, then form macro-cracks when the temperature is above 600?C. There is more inter-granular cracking than intra-granular cracking, and their ratio increases with increasing temperature.The micro-cracks are almost constant when the temperature decreases from 900?C to room temperature, except for quartz α–β phase transition temperature(573?C). The fracture evolution process is obviously affected by these cracks, especially at 600–900?C. Elevated temperature leads to easily developed displacement between the grains, and the capacity to store strain energy becomes weaker, corresponding to the plasticity of granite after heat treatment.     

Global Well-Posedness for Navier–Stokes Equations with Small Initial Value in $${B^{0}_{n,\infty}(\Omega)}$$

We prove global well-posedness for instationary Navier–Stokes equations with initial data in Besov space \({B^{0}_{n,\infty}(\Omega)}\) in whole and half space, and bounded domains of \({{\mathbb R}^{n}}\), \({n \geq 3}\). To this end, we prove maximal \({L^{\infty}_{\gamma}}\) -regularity of the sectorial operators in some Banach spaces and, in particular, maximal \({L^{\infty}_{\gamma}}\) -regularity of the Stokes operator in little Nikolskii spaces \({b^{s}_{q,\infty}(\Omega)}\), \({s \in (-1, 2)}\), which are of independent significance. Then, based on the maximal regularity results and \({b^{s_{1}}_{q_{1},\infty}-B^{s_{2}}_{q_{2,1}}}\) estimates of the Stokes semigroups, we prove global well-posedness for Navier–Stokes equations under smallness condition on \({\|u_{0}\|_{B^{0}_{n,\infty}(\Omega)}}\) via a fixed point argument using Banach fixed point theorem.     

Bifurcations of a creeping air–water flow in a conical container

This numerical study describes the eddy emergence and transformations in a slow steady axisymmetric air–water flow, driven by a rotating top disk in a vertical conical container. As water height \(H_{\mathrm{w}}\) and cone half-angle \(\beta \) vary, numerous flow metamorphoses occur. They are investigated for \(\beta =30^{\circ }, 45^{\circ }\), and \(60^{\circ }\). For small \(H_{\mathrm{w}}\), the air flow is multi-cellular with clockwise meridional circulation near the disk. The air flow becomes one cellular as \(H_{\mathrm{w}}\) exceeds a threshold depending on \(\beta \). For all \(\beta \), the water flow has an unbounded number of eddies whose size and strength diminish as the cone apex is approached. As the water level becomes close to the disk, the outmost water eddy with clockwise meridional circulation expands, reaches the interface, and induces a thin layer with anticlockwise circulation in the air. Then this layer expands and occupies the entire air domain. The physical reasons for the flow transformations are provided. The results are of fundamental interest and can be relevant for aerial bioreactors.     

Further Dense Properties of the Space of Circle Diffeomorphisms with a Liouville Rotation Number

In continuation of Matsumoto’s paper (Nonlinearity 25:1495–1511, 2012) we show that various subspaces are \(C^{\infty }\)-dense in the space of orientation-preserving \(C^{\infty }\)-diffeomorphisms of the circle with rotation number \(\alpha \), where \(\alpha \in {\mathbb {S}}^1\) is any prescribed Liouville number. In particular, for every odometer \({\mathcal {O}}\) of product type we prove the denseness of the subspace of diffeomorphisms which are orbit-equivalent to \({\mathcal {O}}\).     

Resolvent Estimates for High-Contrast Elliptic Problems with Periodic Coefficients

We study the asymptotic behaviour of the resolvents \({(\mathcal{A}^\varepsilon+I)^{-1}}\) of elliptic second-order differential operators \({{\mathcal{A}}^\varepsilon}\) in \({\mathbb{R}^d}\) with periodic rapidly oscillating coefficients, as the period \({\varepsilon}\) goes to zero. The class of operators covered by our analysis includes both the “classical” case of uniformly elliptic families (where the ellipticity constant does not depend on \({\varepsilon}\)) and the “double-porosity” case of coefficients that take contrasting values of order one and of order \({\varepsilon^2}\) in different parts of the period cell. We provide a construction for the leading order term of the “operator asymptotics” of \({(\mathcal{A}^\varepsilon+I)^{-1}}\) in the sense of operator-norm convergence and prove order \({O(\varepsilon)}\) remainder estimates.     

Uniqueness of Positive Ground State Solutions of the Logarithmic Schrödinger Equation

We prove the uniqueness of positive ground state solutions of the problem \({ {\frac {d^{2}u}{dr^{2}}} + {\frac {n-1}{r}}{\frac {du}{dr}} + u \ln(|u|) = 0}\), \({u(r) > 0~\forall r \ge 0}\), and \({(u(r),u'(r)) \to (0, 0)}\) as \({r \to \infty}\). This equation is derived from the logarithmic Schrödinger equation \({{\rm i}\psi_{t} = {\Delta} \psi + u \ln \left(|u|^{2}\right)}\), and also from the classical equation \({{\frac {\partial u}{\partial t}} = {\Delta} u +u \left(|u|^{p-1}\right) -u}\). For each \({n \ge 1}\), a positive ground state solution is \({ u_{0}(r) = \exp \left(-{\frac{r^2}{4}} + {\frac{n}{2}}\right),~0 \le r < \infty}\). We combine \({u_{0}(r)}\) with energy estimates and associated Ricatti equation estimates to prove that, for each \({n \in \left[1, 9 \right]}\), \({u_{0}(r)}\) is the only positive ground state. We also investigate the stability of \({u_{0}(r)}\). Several open problems are stated.     

A framework for synthetic validation of 3D echocardiographic particle image velocimetry

Particle image velocimetry (PIV) has been significantly advanced since its conception in early 1990s. With the advancement of imaging modalities, applications of 2D PIV have far expanded into biology and medicine. One example is echocardiographic particle image velocimetry that is used for in vivo mapping of the flow inside the heart chambers with opaque boundaries. Velocimetry methods can help better understanding the biomechanical problems. The current trend is to develop three-dimensional velocimetry techniques that take advantage of modern medical imaging tools. This study provides a novel framework for validation of velocimetry methods that are inherently three dimensional such as but not limited to those acquired by 3D echocardiography machines. This framework creates 3D synthetic fields based on a known 3D velocity field \({\mathbf{V}}\) and a given 3D brightness field \({\mathbf{B}}\). The method begins with computing the inverse flow \({\mathbf{V}}^{\varvec{*}} \) based on the velocity field \({\mathbf{V}}\). Then the transformation of \({\mathbf{B}}\), imposed by \({\mathbf{V}}\), is calculated using the computed inverse flow according to \({\mathbf{B}}^{\varvec{*}} \left( {\mathbf{x}} \right) = {\mathbf{B}}\left( {{\mathbf{x}} + {\mathbf{V}}^{\varvec{*}} \left( {\mathbf{x}} \right)} \right)\), where x is the coordinates of voxels in \({\mathbf{B}}^{\varvec{*}} \), with a 3D weighted average interpolation, which provides high accuracy, low memory requirement, and low computational time. To check the validity of the framework, we generate pairs of 3D brightness fields by employing Hill’s spherical vortex velocity field. \({\mathbf{B}}\) and the generated \({\mathbf{B}}^{\varvec{*}} \) are then processed by our in-house 3D particle image velocimetry software to obtain the interrelated velocity field. The results indicates that the computed and imposed velocity fields are in agreement.     

Two Dimensional Subsonic Euler Flows Past a Wall or a Symmetric Body

The existence and uniqueness of two dimensional steady compressible Euler flows past a wall or a symmetric body are established. More precisely, given positive convex horizontal velocity in the upstream, there exists a critical value \({\rho_{\rm cr}}\) such that if the incoming density in the upstream is larger than \({\rho_{\rm cr}}\), then there exists a subsonic flow past a wall. Furthermore, \({\rho_{\rm cr}}\) is critical in the sense that there is no such subsonic flow if the density of the incoming flow is less than \({\rho_{\rm cr}}\). The subsonic flows possess large vorticity and positive horizontal velocity above the wall except at the corner points on the boundary. Moreover, the existence and uniqueness of a two dimensional subsonic Euler flow past a symmetric body are also obtained when the incoming velocity field is a general small perturbation of a constant velocity field and the density of the incoming flow is larger than a critical value. The asymptotic behavior of the flows is obtained with the aid of some integral estimates for the difference between the velocity field and its far field states.     

Influence of hydrodynamic slip on convective transport in flow past a circular cylinder

The presence of a finite tangential velocity on a hydrodynamically slipping surface is known to reduce vorticity production in bluff body flows substantially while at the same time enhancing its convection downstream and into the wake. Here, we investigate the effect of hydrodynamic slippage on the convective heat transfer (scalar transport) from a heated isothermal circular cylinder placed in a uniform cross-flow of an incompressible fluid through analytical and simulation techniques. At low Reynolds (\({\textit{Re}}\ll 1\)) and high Péclet (\({\textit{Pe}}\gg 1\)) numbers, our theoretical analysis based on Oseen and thermal boundary layer equations allows for an explicit determination of the dependence of the thermal transport on the non-dimensional slip length \(l_s\). In this case, the surface-averaged Nusselt number, Nu transitions gradually between the asymptotic limits of \(Nu \sim {\textit{Pe}}^{1/3}\) and \(Nu \sim {\textit{Pe}}^{1/2}\) for no-slip (\(l_s \rightarrow 0\)) and shear-free (\(l_s \rightarrow \infty \)) boundaries, respectively. Boundary layer analysis also shows that the scaling \(Nu \sim {\textit{Pe}}^{1/2}\) holds for a shear-free cylinder surface in the asymptotic limit of \({\textit{Re}}\gg 1\) so that the corresponding heat transfer rate becomes independent of the fluid viscosity. At finite \({\textit{Re}}\), results from our two-dimensional simulations confirm the scaling \(Nu \sim {\textit{Pe}}^{1/2}\) for a shear-free boundary over the range \(0.1 \le {\textit{Re}}\le 10^3\) and \(0.1\le {\textit{Pr}}\le 10\). A gradual transition from the lower asymptotic limit corresponding to a no-slip surface, to the upper limit for a shear-free boundary, with \(l_s\), is observed in both the maximum slip velocity and the Nu. The local time-averaged Nusselt number \(Nu_{\theta }\) for a shear-free surface exceeds the one for a no-slip surface all along the cylinder boundary except over the downstream portion where unsteady separation and flow reversal lead to an appreciable rise in the local heat transfer rates, especially at high \({\textit{Re}}\) and Pr. At a Reynolds number of \(10^3\), the formation of secondary recirculating eddy pairs results in appearance of additional local maxima in \(Nu_{\theta }\) at locations that are in close proximity to the mean secondary stagnation points. As a consequence, Nu exhibits a non-monotonic variation with \(l_s\) increasing initially from its lowermost value for a no-slip surface and then decreasing before rising gradually toward the upper asymptotic limit for a shear-free cylinder. A non-monotonic dependence of the spanwise-averaged Nu on \(l_s\) is observed in three dimensions as well with the three-dimensional wake instabilities that appear at sufficiently low \(l_s\), strongly influencing the convective thermal transport from the cylinder. The analogy between heat transfer and single-component mass transfer implies that our results can directly be applied to determine the dependency of convective mass transfer of a single solute on hydrodynamic slip length in similar configurations through straightforward replacement of Nu and \({\textit{Pr}}\) with Sherwood and Schmidt numbers, respectively.     

Linearly Stable Quasi-Periodic Breathers in a Class of Random Hamiltonian Systems

In this paper, we construct linearly stable quasi-periodic breathers for the Hamiltonian systems in the form \({{\rm i} \dot{q}_n+v_n q_n+\delta|q_n|^2q_n+\varepsilon_n \left(q_{n+1}+q_{n-1} \right)=0,\quad n \in \mathbb{Z}}\) where \({\{v_n\}_{n \in \mathbb{Z}}}\) is a family of time independent identically distributed (i.i.d) random variables with common distribution \({g = dv_n, v_n \in [0,1]}\) and \({|\varepsilon_n| \leq \varepsilon e^{-\varrho |n|}}\) with \({\varepsilon,\varrho > 0}\) . We prove that for \({\varepsilon, \delta}\) sufficiently small, the equation admits a family of small-amplitude and linearly stable, time quasi-periodic solutions for most of the parameters \({\{v_n\}_{n \in \mathbb{Z}}}\) .     

Direct Numerical Simulation of Flow over Periodic Hills up to $\text {Re}_{H}= 10{,}595$

We present fully resolved computations of flow over periodic hills at the hill-Reynolds numbers \(\text {Re}_{H}=?5{,}600\) and \(\text {Re}_{H}=?10{,}595\) with the highest fidelity to date. The calculations are performed using spectral incompressible discontinuous Galerkin schemes of \(8^{\text {th}}\) and \(7^{\text {th}}\) order spatial accuracy, \(3^{\text {rd}}\) order temporal accuracy, as well as 34 and 180 million grid points, respectively. We show that the remaining discretization error is small by comparing the results to h- and p-coarsened simulations. We quantify the statistical averaging error of the reattachment length, as this quantity is widely used as an ‘error norm’ in comparing numerical schemes. The results exhibit good agreement with the experimental and numerical reference data, but the reattachment length at \(\text {Re}_{H}=?10{,}595\) is predicted slightly shorter than in the most widely used LES references. In the second part of this paper, we show the broad range of capabilities of the numerical method by assessing the scheme for underresolved simulations (implicit large-eddy simulation) of the higher Reynolds number in a detailed h/p convergence study.     

Long-time Dynamics of Resonant Weakly Nonlinear CGL Equations

Consider a weakly nonlinear CGL equation on the torus \(\mathbb {T}^d\):

$$\begin{aligned} u_t+i\Delta u=\epsilon [\mu (-1)^{m-1}\Delta ^{m} u+b|u|^{2p}u+ ic|u|^{2q}u]. \end{aligned}$$

(*)

Here \(u=u(t,x)\), \(x\in \mathbb {T}^d\), \(0<\epsilon <<1\), \(\mu \geqslant 0\), \(b,c\in \mathbb {R}\) and \(m,p,q\in \mathbb {N}\). Define \(I(u)=(I_{\mathbf {k}},\mathbf {k}\in \mathbb {Z}^d)\), where \(I_{\mathbf {k}}=v_{\mathbf {k}}\bar{v}_{\mathbf {k}}/2\) and \(v_{\mathbf {k}}\), \(\mathbf {k}\in \mathbb {Z}^d\), are the Fourier coefficients of the function \(u\) we give. Assume that the equation \((*)\) is well posed on time intervals of order \(\epsilon ^{-1}\) and its solutions have there a-priori bounds, independent of the small parameter. Let \(u(t,x)\) solve the equation \((*)\). If \(\epsilon \) is small enough, then for \(t\lesssim {\epsilon ^{-1}}\), the quantity \(I(u(t,x))\) can be well described by solutions of an effective equation:

$$\begin{aligned} u_t=\epsilon [\mu (-1)^{m-1}\Delta ^m u+ F(u)], \end{aligned}$$

where the term \(F(u)\) can be constructed through a kind of resonant averaging of the nonlinearity \(b|u|^{2p}+ ic|u|^{2q}u\).

     

Synchronization transitions induced by partial time delay in a excitatory–inhibitory coupled neuronal network

Information transmission delays are an inherent factor of neuronal systems as a consequence of the finite propagation speeds and time lapses occurring by both dendritic and synaptic processes. In real neuronal systems, some delay between two neurons is too small and can be ignored, which results in partial time delay. In this paper, we focus on investigating influences of partial time delay on synchronization transitions in a excitatory–inhibitory (E–I) coupled neuronal networks. Here, we suppose time delay between two neurons equals to \(\tau \) with probability \(p_{\mathrm{delay}}\) and investigate effect of partial time delay on synchronization transitions of the neuronal networks by controlling \(\tau \) and \(p_{\mathrm{delay}}\) under three cases. In these three cases, excitatory synapses are always considered to delayed with probability \(p_{\mathrm{delay}}\), while inhibitory synapses are considered to be without delays (case I), delayed with probability \(p_{\mathrm{delay}}\) (case II), and always delayed (case III), respectively. It is revealed that, in the first two cases, partial time delay has little influences on synchronization of the neuronal network for small \(p_{\mathrm{delay}}\), while it could induce synchronization transitions at \(\tau \) around integer multiples of the period of individual neuron T when \(p_{\mathrm{delay}}\) is large enough, while in the case III, partial time delay could induce synchronization transitions at \(\tau \) being around odd integer multiples of T / 2 for small \(p_{\mathrm{delay}}\) and at \(\tau \) being around integer multiples of T for large \(p_{\mathrm{delay}}\). Most interesting observation is that partial time delay could induce frequent synchronization transitions at \(\tau \) being around integer multiples of T / 2 for intermediate \(p_{\mathrm{delay}}\). Moreover, effect of rewiring probability on synchronization transitions induced by partial time delay has been discussed. It is found that synchronization transitions induced by partial time delay are robust to rewiring probability for large \(p_{\mathrm{delay}}\) under the three cases.     

Measurements of Transitional and Turbulent Flow in a Randomly Packed Bed of Spheres with Particle Image Velocimetry

Particle image velocimetry (PIV) has been used to investigate transitional and turbulent flow in a randomly packed bed of mono-sized transparent spheres at particle Reynolds number, \(20<{{ Re}}_{\mathrm{p}}< 3220\). The refractive index of the liquid is matched with the spheres to provide optical access to the flow within the bed without distortions. Integrated pressure drop data yield that Darcy law is valid at \({{ Re}}_{\mathrm{p}} \approx 80\). The PIV measurements show that the velocity fluctuations increase and that the time-averaged velocity distribution start to change at lower \({{ Re}}_{\mathrm{p}}\). The probability for relatively low and high velocities decreases with \({{ Re}}_{\mathrm{p}}\) and recirculation zones that appear in inertia dominated flows are suppressed by the turbulent flow at higher \({{ Re}}_{\mathrm{p}}\). Hence there is a maximum of recirculation at about \({{ Re}}_{\mathrm{p}} \approx 400\). Finally, statistical analysis of the spatial distribution of time-averaged velocities shows that the velocity distribution is clearly and weakly self-similar with respect to \({{ Re}}_{\mathrm{p}}\) for turbulent and laminar flow, respectively.     

Representation of a Smooth Isometric Deformation of a Planar Material Region into a Curved Surface

We consider the problem of characterizing the smooth, isometric deformations of a planar material region identified with an open, connected subset \({\mathcal{D}}\) of two-dimensional Euclidean point space \(\mathbb{E}^{2}\) into a surface \({\mathcal{S}}\) in three-dimensional Euclidean point space \(\mathbb{E}^{3}\). To be isometric, such a deformation must preserve the length of every possible arc of material points on \({\mathcal{D}}\). Characterizing the curves of zero principal curvature of \({\mathcal{S}}\) is of major importance. After establishing this characterization, we introduce a special curvilinear coordinate system in \(\mathbb{E}^{2}\), based upon an à priori chosen pre-image form of the curves of zero principal curvature in \({\mathcal{D}}\), and use that coordinate system to construct the most general isometric deformation of \({\mathcal{D}}\) to a smooth surface \({\mathcal{S}}\). A necessary and sufficient condition for the deformation to be isometric is noted and alternative representations are given. Expressions for the curvature tensor and potentially nonvanishing principal curvature of \({\mathcal{S}}\) are derived. A general cylindrical deformation is developed and two examples of circular cylindrical and spiral cylindrical form are constructed. A strategy for determining any smooth isometric deformation is outlined and that strategy is employed to determine the general isometric deformation of a rectangular material strip to a ribbon on a conical surface. Finally, it is shown that the representation established here is equivalent to an alternative previously established by Chen, Fosdick and Fried (J. Elast. 119:335–350, 2015).     

Three-Dimensional Lattice Boltzmann Simulations of Single-Phase Permeability in Random Fractal Porous Media with Rough Pore–Solid Interface

Single-phase permeability k has intensively been investigated over the past several decades by means of experiments, theories and simulations. Although the effect of surface roughness on fluid flow and permeability in single pores and fractures as well as networks of fractures was studied previously, its influence on permeability in a random mass fractal porous medium constructed of pores of different sizes remained as an open question. In this study, we, therefore, address the effect of pore–solid interface roughness on single-phase flow in random fractal porous media. For this purpose, we apply a mass fractal model to construct porous media with a priori known mass fractal dimensions \(2.579 \le D_{\mathrm{m}} \le 2.893\) characterizing both solid matrix and pore space. The pore–solid interface of the media is accordingly roughened using the Weierstrass–Mandelbrot approach and two parameters, i.e., surface fractal dimension \(D_{\mathrm{s}}\) and root-mean-square (rms) roughness height. A single-relaxation-time lattice Boltzmann method is applied to simulate single-phase permeability in the corresponding porous media. Results indicate that permeability decreases sharply with increasing \(D_{\mathrm{s}}\) from 1 to 1.1 regardless of \(D_{\mathrm{m}}\) value, while k may slightly increase or decrease, depending on \(D_{\mathrm{m}}\), as \(D_{\mathrm{s}}\) increases from 1.1 to 1.6.     

A Simple Method for the Determination of Adsorption Kinetic Parameters Using Recycle Fixed-Bed Adsorber

This study focuses on the development of a novel analysis technique for determining the intraparticle diffusivity \((D_{\mathrm{S}})\) and fluid film mass transfer coefficient \((k_\mathrm{F})\) from a concentration history curve of a recycle fixed-bed reactor without using the linear driving force approximation and empirical equations for the estimation of \(k_\mathrm{F}\). The recycle fixed-bed method requires lesser amounts of working fluid for experiment purposes, which is an advantage over the usual fixed-bed method. Based on the characterization results of the concentration history curves, simulated by rigorous numerical calculations, a novel analysis technique was established. The \(D_{\mathrm{S}}\) value can be determined from the experimentally obtained time at which the concentration of the curve is minimal \((t_{C\mathrm{min}})\). The \(k_\mathrm{F}\) value can be determined from the \(D_{\mathrm{S}}\) value and Biot number (Bi), which can be estimated from the experimental ratio of the maximum concentration to the minimum concentration \((c_{\max }/c_{\min })\). The \(D_{\mathrm{S}}\) and \(k_\mathrm{F}\) values of phenol adsorption on an activated carbon material were determined experimentally using the proposed analysis method. This method enables the determination of reliable adsorption kinetic parameters through a simple and economical experiment. However, appropriate experimental data must be acquired under regulated experimental conditions, especially in the case of fluctuation of the concentration history curve.     

What are the Longest Ropes on the Unit Sphere?

We consider the variational problem of finding the longest closed curves of given minimal thickness on the unit sphere. After establishing the existence of solutions for any given thickness between 0 and 1, we explicitly construct for each given thickness \({\Theta_n:= {\rm sin}\, \pi/(2n),}\) \({n\in\mathbb{N}}\), exactly \({\varphi(n)}\) solutions, where \({\varphi}\) is Euler’s totient function from number theory. Then we prove that these solutions are unique, and also provide a complete characterisation of sphere filling curves on the unit sphere; that is of those curves whose spherical tubular neighbourhood completely covers the surface area of the unit sphere exactly once. All of these results carry over to open curves as well, as indicated in the last section.