Related papers: Optimal Strokes for Driftless Swimmers: A General …
In this article, we consider a swimmer (i.e. a self-deformable body) immersed in a fluid, the flow of which is governed by the stationary Stokes equations. This model is relevant for studying the locomotion of microorganisms or micro robots…
We address the problem of controlling a dynamical system governing the motion of a 3D weighted shape changing body swimming in a perfect fluid. The rigid displacement of the swimmer results from the exchange of momentum between prescribed…
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 geometric phase techniques for swimming in viscous flows express the net displacement of a swimmer as a path integral of a field in configuration space. This representation can be transformed into an area integral for simple swimmers…
In this paper we study a mathematical model of one-dimensional swimmers performing a planar motion while fully immersed in a viscous fluid. The swimmers are assumed to be of small size, and all inertial effects are neglected. Hydrodynamic…
This article presents a computational approach for determining the optimal slip velocities on any given shape of an axisymmetric micro-swimmer suspended in a viscous fluid. The objective is to minimize the power loss to maintain a target…
Optimal gait design is important for micro-organisms and micro-robots that propel themselves in a fluid environment in the absence of external force or torque. The simplest models of shape changes are those that comprise a series of…
Elongate animals and robots use undulatory body waves to locomote through diverse environments. Geometric mechanics provides a framework to model and optimize such systems in highly damped environments, connecting a prescribed shape change…
In this work, we develop a computational framework that aims at simultaneously optimizing the shape and the slip velocity of an axisymmetric microswimmer suspended in a viscous fluid. We consider shapes of a given reduced volume that…
This article presents a computational framework for determining the optimal slip velocity of a microswimmer with arbitrary three-dimensional geometry suspended in a viscous fluid. The objective is to minimize the hydrodynamic power…
An optimal microswimmer with a given geometry has a surface velocity profile that minimizes energy dissipation for a given swimming speed. An axisymmetric swimmer can be puller-, pusher-, or neutral-type depending on the sign of the…
We study the local controllability properties of 2D and 3D bio-mimetic swimmers employing the change of their geometric shape to propel themselves in an incompressible fluid described by Navier-Stokes equations. It is assumed that swimmers'…
Efficient locomotion is important for the evolution of complex life, yet the physical principles selecting specific swimming strokes often remain entangled with biological constraints. In viscous fluids, the scallop theorem constrains the…
The swimming of a deformable planar slab in a viscous incompressible fluid is studied on the basis of the Navier-Stokes equations. A continuum of plane wave displacements, symmetric on both sides of the slab and characterized by a…
This work aims at finding optimal navigation policies for thin, deformable microswimmers that progress in a viscous fluid by propagating a sinusoidal undulation along their slender body. These active filaments are embedded in a prescribed,…
The optimal strategy for a microscopic swimmer to migrate across a linear shear flow is discussed. The two cases, in which the swimmer is located at large distance, and in the proximity of a solid wall, are taken into account. It is shown…
Swimming velocity and rate of dissipation of a sphere with surface distortions are discussed on the basis of the Stokes equations of low Reynolds number hydrodynamics. At first the surface distortions are assumed to cause an irrotational…
We propose a computational method to solve optimal swimming problems, based on the boundary integral formulation of the hydrodynamic interaction between swimmer and surrounding fluid and direct constrained minimization of the energy…
The ability of microswimmers to deploy optimal propulsion strategies is of paramount importance for their locomotory performance and survival at low Reynolds numbers. Although for perfectly spherical swimmers minimum dissipation requires a…
We study the energetic efficiency of navigating microswimmers by explicitly taking into account the geometry of their body. We show that, as their shape transitions from prolate to oblate, non-steering microswimmers rotated by flow…