Transformation hydrodynamic metamaterials: Rigorous arguments on form invariance and structural design with spatial variance

Transformation optics has been a powerful tool to manipulate physical fields if the governing equations in two spaces satisfy a certain form invariance. A recent interest has been applying this method to design hydrodynamic metamaterials described by the Navier-Stokes equations. However, transformation optics may not be applicable to such a general fluid model while especially the rigorous analysis is still absent. In this work, we give a definite criterion of the required form invariance, i.e., metric of one space and its affine connections that appear in curvilinear coordinates can be incorporated into material properties or interpreted by extra physical mechanisms introduced in another space. Based on this criterion, we prove that the Navier-Stokes equations, as well as its simplification in creeping flows (the Stokes equation), cannot be form invariant due to the redundant affine connections from their viscous terms. On the contrary, the creeping flows under the lubrication approximation, saying the classical Hele-Shaw model and its anisotropic counterpart, can retain the form of their governing equations for steady incompressible isothermal Newtonian fluids. Besides, we propose the design of multilayered structures with spatially varying cell depth to mimic the required anisotropic shear viscosity for modulating Hele-Shaw flows. Our results correct previous misunderstandings about the applicability of transformation optics under the Navier-Stokes equations, reveal the decisive role of lubrication approximation in maintaining form invariance (consistent with recent experiments featuring shallow configurations), and provide a feasible approach in experimental fabrication.