Related papers: Dumbbell micro-robot driven by flow oscillations
This paper introduces a Cosserat rod based mathematical model for modeling a self-controllable variable curvature soft continuum robot. This soft continuum robot has a hollow inner channel and was developed with the ability to perform…
Drag reduction by microbubbles is a promising engineering method for improving ship performance. A fundamental theory of the phenomenon is lacking however, making actual design quite uphazard. We offer here a theory of drag reduction by…
We investigate the dynamics of microcapsules in linear shear flow within a reduced model with two degrees of freedom. In previous work for steady shear flow, the dynamic phases of this model, i.e. swinging, tumbling and intermittent…
We present simultaneous experimental measurements of the dynamics of anisotropic particles transported by a turbulent flow and the velocity gradient tensor of the flow surrounding them. We track both rod-shaped particles and small spherical…
The effect of fluctuating internal viscosity and hydrodynamic interactions on a range of rheological properties of dilute polymer solutions is examined using a finitely extensible dumbbell model for a polymer. Brownian dynamics simulations…
We report on dynamic properties of a simple model microswimmer composed of three spheres and propelling itself in a viscous fluid by spinning motion of the spheres under zero net torque constraint. At a fixed temperature and increasing the…
A submerged finite cylinder moving under its own weight along a soft incline lifts off and slides at a steady velocity while also spinning. Here, we experimentally quantify the steady spinning of the cylinder and show theoretically that it…
Fast and safe manipulation of flexible objects with a robot manipulator necessitates measures to cope with vibrations. Existing approaches either increase the task execution time or require complex models and/or additional instrumentation…
The Drosophila larva, a soft-body animal, can bend its body and roll efficiently to escape danger. However, contrary to common belief, this rolling motion is not driven by the imbalance of gravity and ground reaction forces. Through…
Damped-driven systems are ubiquitous in science, however the damping and driving mechanisms are often quite convoluted. This manuscript presents an experimental and theoretical investigation of a fluidic droplet on a vertically vibrating…
A flexible membrane deforming its shape in time can self-propel in a viscous fluid. Alternatively, if the membrane is anchored, its deformation will lead to fluid transport. Past work in this area focused on situations where the deformation…
We study the dynamics of asymmetric, deformable particles in oscillatory, linear shear flow. By simulating the motion of a dumbbell, a ring polymer, and a capsule we show that cross-stream migration occurs for asymmetric elastic particles…
In this paper, we analyze the inverse dynamics and control of a bacteria-inspired uniflagellar robot in a fluid medium at low Reynolds number. Inspired by the mechanism behind the locomotion of flagellated bacteria, we consider a robot…
The flow of a liquid crystal around a particle does not only depend on its shape and the viscosity coefficients but also on the direction of the molecules. We studied the resulting drag force on a sphere moving in a nematic liquid crystal…
The propulsion of mammalian spermatozoa relies on the spontaneous periodic oscillation of their flagella. These oscillations are driven internally by the coordinated action of ATP-powered dynein motors that exert sliding forces between…
Exploring bodies of water on their surface allows robots to efficiently communicate and harvest energy from the sun. On the water surface, however, robots often face highly unstructured environments, cluttered with plant matter, animals,…
We analyze a minimal model for a rigid spherical microswimmer and explore the consequences of its extended surface on the interplay between its self-propulsion and flow properties. The model is the first order representation of…
In order to explore the magnetostrophic regime expected for planetary cores, experiments have been conducted in a rotating sphere filled with liquid sodium, with an imposed dipolar magnetic field (the DTS setup). The field is produced by a…
This study presents the design and control of a Plasma-propelled Ultra-silence Blimp (PUB), a novel aerial robot employing plasma vector propulsion for ultra-quiet flight without mechanical propellers. The system utilizes a helium-lift…
The spherical dynamics of a bubble in a compressible liquid has been studied extensively since the early work of Gilmore. Numerical codes to study the behavior, including when large non-spherical deformations are involved, have since been…