Related papers: Optimal Design for Purcell Three-link Swimmer
Many previous studies of sliding locomotion have assumed that body inertia is negligible. Here we optimize the kinematics of a three-link body for efficient locomotion and include among the kinematic parameters the temporal period of…
We discuss a locomotion of a three-sphere microswimmer in a viscoelastic medium and propose a new type of active microrheology. We derive a relation which connects average swimming velocity and frequency-dependent viscosity of the…
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…
We analyze two- and three-link planar snake-like locomotion and optimize the motion for efficiency. The locomoting system consists of two or three identical inextensible links connected via hinge joints, and the angles between the links are…
In nature, many unicellular organisms are able to swim with the help of beating filaments, where local energy input leads to cooperative undulatory beating motion. Here, we investigate by employing reinforcement learning how undulatory…
We analyze the suppression of decoherence by means of dynamical decoupling in the pure-dephasing spin-boson model for baths with power law spectra. The sequence of ideal $\pi$ pulses is optimized according to the power of the bath. We…
Computational models of aquatic locomotion range from individual modest simple swimmers in 2D to sophisticated 3D individual swimmers to complex multi-swimmer models that attempt to parse collective behavioral dynamics. Each of these models…
Designing and fabricating structures with specific mechanical properties requires understanding the intricate relationship between design parameters and performance. Understanding the design-performance relationship becomes increasingly…
This paper presents a novel methodology to model and optimize trajectories of a quadrupedal robot with spinal compliance to improve standing jump performance compared to quadrupeds with a rigid spine. We introduce an elastic model for a…
The swimming of an assembly of rigid spheres immersed in a viscous fluid of infinite extent is studied in low Reynolds number hydrodynamics. The instantaneous swimming velocity and rate of dissipation are expressed in terms of the…
Trajectory tracking for microswimmers remains a key challenge in microrobotics, where low-Reynolds-number dynamics make control design particularly complex. In this work, we formulate the trajectory tracking problem as an optimal control…
A conformation space kinetic model is constructed to drive the deformation cycle of a three-sphere swimmer to achieve propulsion at low Reynolds number. We analyze the effect of an external load on the performance of this kinetic swimmer,…
In this paper we study the motion of three linked ellipses moving through a viscous fluid in two dimensions. The angles between the ellipses change with time in a specified manner (the gait) and the resulting time varying configuration is…
Using molecular dynamics simulations we compare the motion of a nano-swimmer based on Purcell suggested motor with a time asymmetrical cycle with the motion of the same molecular motor with a time symmetrical cycle. We show that Purcell…
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…
Active diffusiophoresis - swimming through interaction with a self-generated, neutral, solute gradient - is a paradigm for autonomous motion at the micrometer scale. We study this propulsion mechanism within a linear response theory.…
Motivated by the swimming of sperm in the non-Newtonian fluids of the female mammalian reproductive tract, we examine the swimming of filaments in the nonlinear viscoelastic Upper Convected Maxwell model. We obtain the swimming velocity and…
Sand is a highly dissipative system, where the local spatial arrangements and densities depend strongly on the applied forces, resulting in fluid-like or solid-like behaviour. This makes sand swimming challenging and intriguing, raising…
Swimming micro-organisms such as flagellated bacteria and sperm cells have fascinating locomotion capabilities. Inspired by their natural motion, there is an ongoing effort to develop artificial robotic nano-swimmers for potential in-body…
As technological advances allow us to fabricate smaller autonomous self-propelled devices, it is clear that at some point directed propulsion could not come from pre-specified deterministic periodic deformation of the swimmer's body and we…