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EXISTENCE
THEORY FOR
GENERALIZED
NEWTONIAN
FLUIDS
Mathematics in Science and
Engineering
EXISTENCE
THEORY FOR
GENERALIZED
NEWTONIAN
FLUIDS
Dominic Breit
Mathematical & Computer Sciences; Mathematics
Heriot-Watt University
Edinburgh, Midlothian, United Kingdom
Series Editor
Goong Chen
ISBN: 978-0-12-811044-7
ix
x Preface
best known bound p > 65 for three dimensional flows of power-law fluids
was achieved.
A drawback of the Lipschitz truncation is its nonlinear and nonlo-
cal character. In fact, the property of a function to be solenoidal (that
is, divergence-free) is lost by truncating it. So, one has to introduce the
pressure function in the weak formulation which results in additional tech-
nical difficulties. An advanced pressure decomposition via singular integral
operators is necessary in the non-stationary case. An improved version, the
“solenoidal Lipschitz truncation”, was developed only recently. It allows the
existence of weak solutions to the generalized Navier–Stokes system to be
shown without the appearance of the pressure function and therefore highly
simplifies the proofs. Moreover, it allows the Prandtl–Eyring fluid model to
be studied which was out of reach before. In this model the power-growth
is replaced by some logarithmic function: the law ν ∼ ln(1 + γ̇ )/γ̇ was in-
troduced in 1936 based on a molecular theory. This leads to a limit case in
the functional analytical setting of generalized Newtonian fluids. It is not
possible to introduce the pressure in the expected function space. Neither
can the divergence be corrected.
The aim of this book is to present a complete and rigorous mathe-
matical existence theory for generalized Newtonian fluids – for stationary,
non-stationary and stochastic models. The balance laws are formulated in
all situations via a generalized Navier–Stokes system. The proofs are pre-
sented as self-contained as possible and require from the reader only basic
knowledge of nonlinear partial differential equations.
The heart of this book is the construction of the “solenoidal Lipschitz
truncation”. It has numerous applications and is of interest for future re-
search beyond the scope of this monograph. The stationary truncation is
presented in Chapter 3 and the non-stationary version in Chapter 6. Based
on the “solenoidal Lipschitz truncation” the existence of weak solutions to
generalized Navier–Stokes equations is shown. The existence proof itself is
only slightly more complicated than the classical monotone operator theory
and easy to follow.
In Chapter 4 we study the stationary Prandtl–Eyring model in two di-
mensions. Here, several important tools like the Bogovskiı̆ operator and
Korn’s inequality loose some of their continuity properties. Optimal re-
sults, which might allow for a loss of integrability, can be achieved in the
framework of Orlicz spaces. They are flexible enough to study fine prop-
erties of measurable functions which are required in the Prandtl–Eyring
fluid model. We present optimal versions of the Bogovskiı̆ operator, Nečas’
Preface xi
Dominic Breit
Edinburgh
August 2016
xiii
NOTATION
Formula Meaning
C Continuous functions
Cα α -Hölder continuous functions
Ck k-times continuously differentiable functions
C∞ ∞-times continuously differentiable functions
spt(ϕ) Support of ϕ
C0∞ C ∞ -functions with compact support
C0k C k -functions with compact support
D Dual of C0∞
C0∞,div C0∞ -functions with vanishing divergence
Ddiv Dual of C0∞,div
C0∞,⊥ C0∞ -functions with vanishing mean value
X Dual space of X
· X Norm on X
·, ·X Inner product on X
Ln n-dimensional Lebesgue measure
Hs s-dimensional Hausdorff measure
B Borelian σ -algebra
Lp Lebesgue-space of p-integrable functions
p
Lloc Lebesgue-space of locally p-integrable functions
p
Ldiv L p -functions with vanishing divergence
L⊥p L p -functions with vanishing mean
p Dual exponent of p: p = p/ p − 1
L A /A(L ) Orlicz-space generated by A
L⊥A /A(L )⊥ L A -functions with vanishing mean
A Young conjugate of A
u∗ Decreasing rearrangement of u
u∗v Convolution of u and v
Mf Hardy-Littlewood maximal operator applied to f
Br Ball with radius r
κ Br Ball with same center as Br and radius κ r
k Averaged Taylor polynomial of order k
W k ,p Sobolev functions with differentiability k and
integrability p
xv
xvi Notation
Formula Meaning
Wlock,p Sobolev functions with differentiability k and local
integrability p
k ,p
Wdiv W k,p -functions with vanishing divergence
W0k,p W k,p -functions with vanishing trace
W −k,p Dual space of W0k,p
k ,p
Wdiv W k,p -functions with vanishing divergence
W0k,div
,p
W0k,p -functions with vanishing divergence
−k,p
Wdiv Dual space of W0k,div
,p
Formula Meaning
W k,p (0, T ; V ) k-times weakly differentiable functions with values in V
and integrability p
(, F , P) Probability space with sample space , σ -algebra F and
probability measure P
(Ft )t≥0 filtration
L p (, F , P; V ) Random variable over (, F , P) with values in V and
moments of order p
M2 Quadratically integrable martingales
M2c Quadratically integrable continuous martingales
M2c,loc Locally in time quadratically integrable continuous
martingales
L2 (H1 , H2 ) Hilbert-Schmidt operators from H1 → H2
X t t≥0 Quadratic variation process of (Xt )t≥0
X , Y t t≥0 Covariation process of (Xt )t≥0 and (Yt )t≥0
Aq Stokes operator on L q
Aq A-Stokes operator on L q
D Domain of an operator
CHAPTER 1
Preliminaries
Contents
1.1 Lebesgue & Sobolev spaces 3
1.2 Orlicz spaces 8
1.3 Basics on Lipschitz truncation 11
1.4 Existence results for power law fluids 22
Abstract
In this chapter we present some preliminary material which will be needed in order to
study stationary models for generalized Newtonian fluids. We begin with the functional
analytic framework. In particular, we define Lebesgue-, Sobolev- and Orlicz-spaces and
describe their basic properties. After this we present the Lipschitz truncation method
in its classical framework and present two applications. Finally, we discuss some mod-
elling aspects concerning power law fluids and provide a historical overview on the
mathematical theory of weak solutions for stationary flows.
By C00 (G) and C0∞ (G) we denote subclasses of C 0 (G) and C ∞ (G) whose
elements satisfy spt u G.
Definition 1.1.4 (Lebesgue spaces). Let (X, , μ) be a measure space. We
define
L (X, , μ) := u : X → R : u is μ-measurable,
p
|u|p dμ < ∞ , 1 ≤ p < ∞,
X
is an isomorphism.
Preliminaries 5
u ∂i ϕ dz = − vi ϕ dz for all ϕ ∈ C0∞ (G).
G G
is called k-times weakly differentiable if for all α ∈ N0d with |α| ≤ k there
is a function vα ∈ Lloc 1 (G) such that
u Dα ϕ dz = (−1)|α| vα ϕ dz for all ϕ ∈ C0∞ (G).
G G
for all v ∈ L p (G, RN ) (p := p−p 1 ) and for all α ∈ N0d with |α| ≤ k.
• The dual space of W0k,p (G) will be denoted by W −k,p (G).
Theorem 1.1.1 (Smooth approximation). Let G ⊂ Rd be open and bounded
with Lipschitz boundary (i.e. ∂ can be locally parametrized by Lipschitz con-
tinuous functions of d − 1 variables) and 1 ≤ p < ∞. Then C ∞ (G) is dense in
W k,p (G). In particular, for every u ∈ W k,p (G) there is (um ) ⊂ C0∞ (G) such that
um → u in W k,p (G).
Theorem 1.1.2 (Sobolev). Let G ⊂ Rd be open.
a) The embeddings
dp
W01,p (G) → L d−p (G) if p < d,
d
W01,p (G) → C 1− p (G) if p > d, Ld (G) < ∞,
are continuous.
b) Let G ⊂ Rd be open and bounded with Lipschitz-boundary. The embeddings
dp
W 1,p (G) → L d−p (G) if p < d,
1− dp
W 1,p (G) → C (G) if p > d,
are continuous.
Preliminaries 7
As a consequence, if λ ≥ 1, then
A−1 (λs) ≤ λA−1 (s) for s ≥ 0, (1.2.7)
where A−1 denotes the (generalized) right-continuous inverse of A.
A Young function A is said to satisfy the 2 -condition if there exists a
positive constant K such that
A(2s) ≤ KA(s) for s ≥ 0. (1.2.8)
If (1.2.8) just holds for s ≥ s0 for some s0 > 0, then A is said to satisfy the
2 -condition near infinity. We say that A satisfies the ∇2 -condition [near
infinity] if à satisfies the 2 -condition [near infinity].
A Young function A is said to dominate another Young function B near
infinity if there exist positive constants c and s0 such that
B(s) ≤ A(cs) for s ≥ s0 . (1.2.9)
The functions A and B are called equivalent near infinity if they dominate
each other near infinity.
Let G be a measurable subset of Rd , and let u : G → R be a measur-
able function. Given a Young function A, the Luxemburg norm associated
with A, of the function u is defined as
|u|
u LA (G) := inf λ : A dx ≤ 1 .
G λ
The collection of all measurable functions u for which this norm is finite
is called the Orlicz space L A (G). It turns out to be Banach
function space.
The subspace of L A (G) of those functions u such that G u(x) dx = 0 will
be denoted by L⊥A (G). A Hölder-type inequality in Orlicz spaces takes the
form
u(x)v(x) dx
v LA (G) ≤ sup G ≤ 2 v LA (G) (1.2.10)
u∈L A (G) u LA (G)
for every v ∈ L A (G). If |G| < ∞, then
L A (G) → L B (G) if and only if A dominates B near infinity . (1.2.11)
The decreasing rearrangement u∗ : [0, ∞) → [0, ∞] of a measurable func-
tion u : G → R is the (unique) non-increasing, right-continuous function
which is equimeasurable with u. Thus,
u∗ (s) = sup{t ≥ 0 : |{x ∈ G : |u(x)| > t}| > s} for s ≥ 0.
The equimeasurability of u and u∗ implies that
u L A (G) = u∗ L A (0,|G|) (1.2.12)
for every u ∈ L A (G).
10 Existence Theory for Generalized Newtonian Fluids
Lemma 1.2.1. Let A and B be Young functions, and let L ∈ (0, ∞].
(i) There exists a constant C such that
s
1
f (r ) dr ≤C f (1.2.13)
s L A (0,L )
0 L B (0,L )
for every f ∈ L A (0, L ) if and only if either L < ∞ and there exist constants c > 0
and t0 ≥ 0 such that
t
B(s)
t ds ≤ A(ct) for t ≥ t0 , (1.2.14)
t0 s2
or L = ∞ and (1.2.14) holds with t0 = 0. In particular, in the latter case, the
constant C in (1.2.13) depends only on the constant c appearing in (7.0.1).
(ii) There exists a constant C such that
L
dr
f (r ) ≤C f (1.2.15)
r LB (0,L) L A (0,L )
s
for every f ∈ L A (0, L ) if and only if either L < ∞ and there exist constants c > 0
and t0 ≥ 0 such that
t
A(s)
t ds ≤ B(ct) for t ≥ t0 , (1.2.16)
t0 s2
or L = ∞ and (1.2.16) holds with t0 = 0. In particular, in the latter case, the
constant C in (1.2.15) depends only on the constant c appearing in (1.2.16).
Assume now that G is an open set. The Orlicz–Sobolev space W 1,A (G)
is the set of all functions in L A (G) whose distributional gradient also be-
longs to L A (G). It is a Banach space endowed with the norm
u W 1,A (G) := u L A (G) + ∇u L A (G) .
Preliminaries 11
We also define the subspace of W 1,A (G) of those functions which vanish
on ∂ G as
W01,A (G)
= {u ∈ W 1,A (G) : the continuation of u by 0 is weakly differentiable}.
In the case where A(t) = tp for some p ≥ 1, and ∂ G is regular enough, such a
definition of W01,A (G) can be shown to reproduce the usual space W01,p (G)
defined as the closure in W 1,p (G) of the space C0∞ (G) of smooth compactly
supported functions in G. In general, the set of smooth bounded functions
is dense in L A (G) only if A satisfies the 2 -condition (just near infinity
when |G| < ∞), and hence, for arbitrary A, our definition of W01,A (G)
yields a space which can be larger than the closure of C0∞ (G) in W01,A (G)
even for smooth domains. On the other hand, if G is a Lipschitz domain,
namely a bounded open set in Rd which is locally the graph of a Lipschitz
function of d − 1 variables, then
W01,A (G) = W 1,A (G) ∩ W01,1 (G),
where W01,1 (G) is defined as usual.
Lemma 1.2.2. Let A be a Young-function satisfying the 2 -condition and
G ⊂ Rd open.
• The following holds
W 1,A (G)
W01,A (G) = C0∞ (G) = W 1,A (G) ∩ W01,1 (G).
• For every u ∈ W 1,A there is a sequence (uk ) ∈ C ∞ (G) ∩ W 1,A (G) such that
uk → u in W 1,A (G).
Lemma 1.2.3. Let A be a Young function satisfying the 2- and the
∇2 -condition. Then L A (G) is reflexive with
L A (G) ∼
= L Ã (G).
for v ∈ 1 (Rd )
Lloc which can be extended to vector- (or matrix-)valued
functions by setting M (v) = M (|v|). Basic properties of the maximal op-
erator are summarized in the following lemma (see e.g. [134] and [141,
Lemma 3.2] for d)).
Lemma 1.3.1. a) Let v ∈ Lloc1 (Rd ) and λ > 0. The level-set {x ∈ Rd :
the extension is zero outside G. In the general case we may apply [5,
Thm. 4.26]. Now, for x, y ∈ Rd \ Oλ we have a.e.
|u(x) − u(y)| ≤ c |x − y| M (∇ u)(x) + M (∇ u)(y) ≤ 2c λ|x − y|,
see, e.g., [112]. Hence u is Lipschitz-continuous in Rd \ Oλ with Lipschitz
constant proportional to λ. By a standard extension theorem (see e.g. [71,
Preliminaries 13
for all ϕ ∈ W01,p (G). Its existence can be shown via standard methods pro-
vided F ∈ L p (G). We are concerned here with the question of how the
regularity of F transfers to v (particularly to |∇ v|p−2 ∇ v). In the linear
case p = 2 this is answered by the classical theory of Calderón and Zyg-
mund [43]. It says that F ∈ L q (G) implies ∇ v ∈ L q (G) for all q ∈ (1, ∞).
Note that the case q < 2, where q is below the duality exponent p , is in-
cluded. In that situation existence of weak solutions is not clear a priori.
There has been a great deal of effort in obtaining a corresponding result for
the nonlinear case p = 2 such that
F ∈ L q (G) ⇒ |∇ v|p−2 ∇ v ∈ L q (G) ∀q ∈ (1, ∞) (1.3.25)
Preliminaries 15
Lemma 1.3.2. Let v ∈ L p (Rd ) with p ∈ (1, ∞). Then there exist j0 ∈ N and a
j +1
sequence λj ∈ R with 22 ≤ λj ≤ 22 −1 such that
j
λj Ld {x ∈ Rd : M (v) > λj } ≤ c p 2−j v
p p
p
Proof. We have
∞
M (v) pp = ϑ p−1 χ{|v|>ϑ} dϑ dx
Rd 0
2m+1
= ϑ p−1 χ{|M (v)|>ϑ} dϑ dx
Rd m∈Z 2m
p (1.3.26)
≥ 2m χ{|M (v)|>2m+1 } dx
Rd m∈Z
2j+1 −1
k p
≥ 2 χ{|M (v)|>2·2k } dx.
j∈N Rd
k=2j
Since the sum contains 2j summands, there is at least one index kj such that
p
2kj χ{|M (v)|>2·2kj } dx ≤ c p v pp 2−j . (1.3.27)
Rd
(1.3.32)
Preliminaries 17
such that
lim sup lim sup F (·, ∇ v + ∇ un,j ) dx = 0 (1.3.34)
λ→∞ n→∞ O λj
Proof. Take the solution v to (1.3.23) and use its Lipschitz truncation vλ
as a test-function, see the construction after (1.3.17). Note that the Lips-
chitz truncation can preserve zero boundary values at least in the case of a
Lipschitz boundary, cf. [62, Thm. 3.2]. We obtain
p−2 p−2
|∇ v| ∇ v : ∇ vλ dx = − |∇ v| ∇ v : ∇ vλ dx + F : ∇ vλ dx
Rd \Oλ Oλ Rd
Progress has not been very rapid. Lack of money and lack of
competent schoolmasters sadly hamper all operations. But kuttabs
are now established, attached as a sort of junior class to the schools
at Khartoum, Omdurman, Halfa, and Suakin. A model kuttab has
been established at Berber, which is reported to be doing well, and
another is being built at Dongola. The like is also being attempted at
Wad Medani, a populous town on the Blue Nile, capital of the
province of Sennar, with about 40,000 inhabitants. Reference has
been made to the lack of trained schoolmasters. Egypt itself feels
this difficulty, and Egypt is at present the only source of supply on
which the Soudan can draw. It was to meet this demand—at least,
so far as the kuttabs are concerned—that a small training college for
native sheikhs was opened in the beginning of 1901 in connection
with the school at Omdurman. At first this interesting experiment was
not very successful. The students, who all belonged to the best Arab
families, were all proud, ignorant, and lazy; and as Arabs they were
inclined to despise the Egyptian schoolmasters, whose task it was to
teach them. But now there is a great improvement. They have
increased in number to about thirty, and only lack of room prevents a
further increase. I watched them doing their own lessons, and also
receiving practical instruction in teaching by taking a class of the
school under the guidance of a master. It was impossible to doubt
the value of the experiments. They were nearly all fine-looking,
intelligent young men, some of them really handsome, with the keen,
clear-cut features that mark the pure-bred Arab. Three of them had
come from distant Kassala, where at present there are no means of
education whatever. The course lasts three years. At the end of it
they are to be examined as to their fitness, and they will then be
drafted off either to teach in their kuttabs or else to some posts in
connection with the native Courts. Whether as schoolmasters or
Cadis, they will be most useful elements in the development of the
Soudan.
In the negro portion of the Soudan, inhabited by the pagan tribes,
the people are so backward in civilization that the question of
education does not at present arise, or, if it does arise, assumes a
totally different aspect. Here is the field for the missionary. Two
missions are already established—one, the American Medical
Mission, on the Sobat; and the other, the Austrian Roman Catholic
Mission at Taufikieh, on the White Nile. Both are doing good work,
and both are to be encouraged and assisted by the Government. In
other parts of the Soudan it must be remembered that we are
dealing with a fanatically Mohammedan population, and any
suspicion that the Government was trying to proselytize would
immediately wreck all schemes of education, and probably be the
signal for grave disorders.
It will be a long time before the schools turn out sufficient pupils to
fill the Government Civil Service, and there does not seem to be any
danger of producing mere ‘babus,’ hanging about and relying on a
certain knowledge of English to procure them a job. The teaching of
English is entirely confined to those boys who are going to make use
of it in the Government Service or in commercial pursuits, where its
knowledge is required. For the ordinary mass of the population
nothing is to be gained by an imperfect knowledge of English. The
authorities are unquestionably right in discouraging such teaching;
the supposed political advantages of it are small, if not entirely
imaginary. The Soudan can never be a real white man’s country; its
rulers must always be speakers of Arabic, and its people will do far
better to employ their time in more useful ways than struggling with a
foreign language.
The Gordon College is the centre of education, but even now its
activities are not confined to mere teaching. It is proposed to form a
collection of books dealing with the Soudan, its peoples, its natural
history, and its various productions, accompanied by specimens to
illustrate them, and some progress has been made. Mr. Wellcome’s
valuable bacteriological research laboratory is in full working order,
and a skilled expert from Scotland has been in charge of it for some
months. He is doing a work of great importance, not only to the
Soudan, but also to the scientific world in general. The Soudan is a
land where strange diseases both of men and animals abound.
There is a wide field for research. The scientific and systematic
examination of these obscure subjects is already bearing fruit, and
cannot fail to ameliorate the conditions of life in these tropical
regions for the European as well as for the native.
Lord Cromer has promised that more shall be done for education
in the future. There is no need for hurry; indeed, it is essential that
the educational system shall be built up slowly with caution and
patience. But in time each province will have its own primary and
technical schools, whose pupils will be selected from the elementary
kuttabs. Afterwards, when all this has been carefully organized, the
provincial schools will in their turn pass on their more promising
students to Khartoum to receive the higher education which will then
be demanded. Then the Gordon College will at last become a real
college. In it the germ of a most hopeful future is contained. If the
work proceeds on the same sound lines as hitherto—which there is
no reason to doubt—great days are coming. The Arab is capable of
a very high degree of civilization, and has a great intelligence, which
has as yet had no chance of development. And in those days, I
doubt not, those who founded the Gordon College, and first kindled
the fire of learning, will be praised by its students as sincerely and as
deservedly as the benefactors of any of our own Western
foundations.
CHAPTER XX
‘I recently rode from Wad Medani on the Blue Nile to opposite Duem on the
White Nile, eighty miles across a perfectly flat plain sown almost throughout its
entire length with dhurra, which was standing 6 to 8 feet high. As there is only one
crop sown during the short rainy season, and as this is planted and harvested
within a period of sixty to eighty days, it follows that, if a system of irrigation were
possible in the Ghezireh it would become a huge granary capable of supplying, not
only the whole Soudan, but other countries as well.’
But, of course, any schemes for utilizing the waters of the Nile
have always to be considered in reference to the prior claims of
Egypt. It is only to Egypt that the Soudan can look for the money
necessary to carry out great works, and, naturally, Egypt would not
allow irrigation to be developed in the Soudan unless her own needs
were amply safeguarded. Whenever Egypt undertakes the great
works contemplated on the Upper Nile, the Soudan will share in the
benefit. That will not be for a long time to come, and meanwhile the
Soudan has opportunity to develop her resources and her population
so as to be able to seize the chance when it comes. There seems to
be no reason, however, why works on a small scale should not be
undertaken, subject always to the question of expense, to utilize in
the Soudan, by means of basin irrigation on the Blue Nile or the
Atbara, some of the flood-water during July, August and September,
which is only an embarrassment to Egypt now that perennial
irrigation is adopted so universally in that country. It is only in the
preceding summer months, when the Nile is low, that Egypt is forced
to watch the proceedings of her neighbour with such a jealous eye. It
would be rash to prophesy exactly when irrigation works will be
undertaken, or what form they will take; but it is certain that they will
come, and when they do, their effect upon the Soudan will be
immense. The subject is of peculiar interest to England; the lands in
question are capable of producing other crops than cereals, and, as
will presently be shown, for none are they more suitable than for
cotton.
Quite apart from any such speculations upon the future, the
external trade of the Soudan is capable of great expansion under
present conditions. An examination of the returns of imports and
exports during the last years before the rebellion is a very useful
guide to the capacities of the country. The figures are taken from
Colonel Stewart’s report.
There are no returns of imports except for the port of Suakin, but
these embrace practically the whole. Of course, a certain amount
came in by the Nile Valley route, just as now a certain amount comes
in by Suakin instead of by the railway. The position has been
practically reversed, and for purposes of comparison it is fair to take
the imports formerly entering the port of Suakin and those now
carried by the railway. The most important item was cotton goods,
which amounted to about 25,000 to 30,000 kantars annually. Linens
were about 200 to 300 kantars, and woollens 100 to 300 kantars.
There was also a certain amount of silks and silk thread and sewing
cotton. The Indian trade brought in a good deal of grain and tobacco.
In 1881 the import of Indian rice amounted to 20,000 kantars.
Petroleum (6,000 kantars), oil, zinc, copper, and iron, appear in the
list, as well as flour and provisions of various kinds in large
quantities, and candles, boots, and clothes. The peculiar tastes of
the Soudanese in luxuries are reflected in the large imports of
sandal-wood, and scents and perfumery, especially fish-scent (700
tons, or 15,400 kantars, a year). Both men and women are
particularly fond of strong, greasy scents. In all native festivities and
entertainments these scents are a very prominent feature, and a
native marriage can be smelt a very long way off. Last, but not least,
comes a very peculiar item: in one year no less than 11,000 dozen
umbrellas were imported. There is certainly enough sunshine in the
Soudan, and in parts of it rain also, to justify a large number of
umbrellas, but it is difficult to believe that 132,000 umbrellas would
find a ready sale in the Soudan to-day. Perhaps the Khalifa
particularly disliked the umbrella-carrying class.