Related papers: Optimally swimming Stokesian robots
Since its development, Stokesian Dynamics has been a leading approach for the dynamic simulation of suspensions of particles at arbitrary concentrations with full hydrodynamic interactions. Although originally developed for the simulation…
We consider numerical algorithms for the simulation of the rheology of two-dimensional vesicles suspended in a viscous Stokesian fluid. The vesicle evolution dynamics is governed by hydrodynamic and elastic forces. The elastic forces are…
Actuating periodically an elastic filament in a viscous liquid generally breaks the constraints of Purcell's scallop theorem, resulting in the generation of a net propulsive force. This observation suggests a method to design simple…
We present a comprehensive study on discrete morphological symmetries of dynamical systems, which are commonly observed in biological and artificial locomoting systems, such as legged, swimming, and flying animals/robots/virtual characters.…
Fish swim by undulating their bodies. These propulsive motions require coordinated shape changes of a body that interacts with its fluid environment, but the specific shape coordination that leads to robust turning and swimming motions…
The levels of agility and flight or swimming performance demonstrated by insects, birds, fish, and even some aquatic invertebrates, are often vastly superior to what even the most advanced human-engineered vehicles operating in the same…
The swimming of a sphere immersed in a viscous incompressible fluid with inertia is studied for surface modulations of small amplitude on the basis of the Navier-Stokes equations. The mean swimming velocity and the mean rate of dissipation…
Real-world robots are becoming increasingly complex and commonly act in poorly understood environments where it is extremely challenging to model or learn their true dynamics. Therefore, it might be desirable to take a task-specific…
In isotropic fluids like water, micrometer-scale swimmers have evolved swim strokes to translate despite their tiny size. As described by Purcell in his Scallop Theorem, reciprocal motions, like those performed by a scallop, cannot drive…
We present a new class of stochastic, geometrically-driven optimization algorithms on the orthogonal group $O(d)$ and naturally reductive homogeneous manifolds obtained from the action of the rotation group $SO(d)$. We theoretically and…
Electromagnetically propelled helical nanoswimmers offer great potential for nanorobotic applications. Here, the effect of confinement on their propulsion is characterized using lattice-Boltzmann simulations. Two principal mechanisms give…
This work develops an efficient and accurate optimization algorithm to study the optimal mixing problem driven by boundary control of unsteady Stokes flows, based on the theoretical foundation laid by Hu and Wu in a series of work. The…
Metachronal locomotion is a widespread swimming mode used by aquatic swarming organisms to achieve performance and maneuverability in the intermediate Reynolds number regime. Our understanding of the mechanisms driving these abilities is…
Translational and rotational swimming at small Reynolds number of a planar assembly of identical spheres immersed in an incompressible viscous fluid is studied on the basis of a set of equations of motion for the individual spheres. The…
We theoretically investigate self-oscillating waves of an active material, which have recently been introduced as a non-symmetric part of the elastic moduli, termed odd elasticity. Using Purcell's three-link swimmer model, we reveal that an…
We study a stochastic control problem for continuous multidimensional martingales with fixed quadratic variation. In a radially symmetric environment, we are able to find an explicit solution to the control problem and find an optimal…
State-of-the-art approaches to optimal control use smooth approximations of value and policy functions and gradient-based algorithms for improving approximator parameters. Unfortunately, we show that value and policy functions that arise in…
The aim of this paper is to describe the self-propulsion of a micro-robot (or micro-swimmer) consisting of $N$ spheres moving along a fixed line. The spheres are linked to each other by arms with the lengths changing periodically. For the…
We present simulations of the vortex dynamics associated with the self-propelled motion of jellyfish. The geometry is obtained from image segmentation of video recordings from live jellyfish. The numerical simulations are performed using…
Micro-nano-robotic swimmers have promising potential for future biomedical tasks such as targeted drug delivery and minimally-invasive diagnosis. An efficient method for controlled actuation of such nano-swimmers is applying a rotating…