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We design a nonlinear estimator for channel flows at $Re_{\tau}=180$ and $590$. The nonlinear estimator uses a linear estimator structure based on the linearised Navier-Stokes equations and explicitly calculates the nonlinear forcing from the estimated velocities in physical space. The goal is to use the velocities at one wall-normal height to estimate the velocities at other wall-normal heights. The estimation performance is compared among the nonlinear estimator, the linear estimator and the linear estimator augmented with eddy viscosity. At $Re_{\tau}=180$, the nonlinear estimator and the linear estimator augmented with eddy viscosity outperform the linear estimator in terms of estimating the velocity magnitudes, structures and energy transfer (production and dissipation) across the channel height. The limitations of using measurement data at one wall-normal height are discussed. At $Re_{\tau}=590$, the nonlinear estimator does not work well with only one measurement plane, whereas the linear estimator augmented with eddy viscosity performs well. The performance of the nonlinear estimator at $Re_{\tau}=590$ is significantly enhanced by providing multiple measurement planes.

We investigate nonlinear energy transfer for channel flows at friction Reynolds numbers of $Re_{\tau}=180$ and $590$. The key feature of the analysis is that we introduce a new variable, which quantifies the energy transferred from a source mode to a recipient mode through explicit examination of nonlinear triadic interactions in streamwise-spanwise wavenumber space. First, we use this variable to quantify the nonlinear energy transfer gain and loss for individual Fourier modes. The nonlinear energy transfer gain and loss cannot be directly obtained from the turbulent kinetic energy (TKE) equation. Second, we quantify the nonlinear energy transfer budgets for three types of structures: streamwise streaks, oblique waves and Tollmien-Schlichting waves. We found that a transverse cascade from streamwise-elongated modes to spanwise-elongated modes exists in all three structures. Third, we quantify the forward and inverse cascades between resolved scales and subgrid scales in the spirit of large-eddy simulation. For the cutoff wavelength range we consider, the forward and inverse cascades between the resolved scales and subgrid scales result in a net forward cascade from the resolved scales to the subgrid scales. The shape of the net forward cascade curve with respect to the cutoff wavelength resembles the net forward cascade predicted by the Smagorinsky eddy viscosity.