A computational framework based on nonlinear direct-adjoint looping is presented for optimizing mixing strategies for binary fluid systems. The governing equations are the nonlinear Navier-Stokes equations, augmented by an evolution equation for a passive scalar, which are solved by a spectral Fourier-based method. The stirrers are embedded in the computational domain by a Brinkman-penalization technique, and shape and path gradients for the stirrers are computed from the adjoint solution. Four cases of increasing complexity are considered, which demonstrate the efficiency and effectiveness of the computational approach and algorithm. Significant improvements in mixing efficiency, within the externally imposed bounds, are achieved in all cases.
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