Related papers: Gait modeling and optimization for the perturbed S…
In this study, we present a simulation-based numerical method for solving a class of singularly perturbed second-order differential equations that come from a simplified biologically motivated model of human gait. Important physical factors…
We investigate the optimal shapes of the hydrodynamic resistance of a rigid body set in motion in a Stokes flow. In this low Reynolds number regime, the hydrodynamic drag properties of an object are encoded in a finite number of parameters…
We present a data-driven nonintrusive model order reduction method for dynamical systems with moving boundaries. The proposed method draws on the proper orthogonal decomposition, Gaussian process regression, and moving least squares…
This work presents Neural Gaits, a method for learning dynamic walking gaits through the enforcement of set invariance that can be refined episodically using experimental data from the robot. We frame walking as a set invariance problem…
Swimming, i.e., being able to advance in the absence of external forces by performing cyclic shape changes, is particularly demanding at low Reynolds numbers which is the regime of interest for micro-organisms and micro-robots. We focus on…
We investigate the dynamics of several slender rigid bodies moving in a flow driven by the three-dimensional steady Stokes system in presence of a smooth background flow. More precisely we consider the limit where the thickness of these…
We study self propelled stokesian robots composed of assemblies of balls, in dimensions 2 and 3, and prove that they are able to control their position and orientation. This is a result of controllability, and its proof relies on applying…
In this paper we study the motion of a rigid body driven by Newton's law immersed in a stationary incompressible Stokes flow occupying a bounded simply connected domain. The aim is that of trajectory tracking of the solid by the means of a…
Many microorganisms swim in fluids with complex rheological properties. Although much is now understood about motion of these swimmers in Newtonian fluids, the understanding is still developing in non-Newtonian fluids --- this understanding…
We propose and analyse a novel, fully discrete numerical algorithm for the approximation of the generalised Stokes system forced by transport noise -- a prototype model for non-Newtonian fluids including turbulence. Utilising the Gradient…
Worm-inspired robots provide an effective locomotion strategy for constrained environments by combining cyclic body deformation with alternating anchoring. For compliant robots, however, the interaction between deformable anchoring…
Turbulent suspensions of heavy particles in incompressible flows have gained much attention in recent years. A large amount of work focused on the impact that the inertia and the dissipative dynamics of the particles have on their dynamical…
Direct numerical simulation of Stokes flow through an impermeable, rigid body matrix by finite elements requires meshes fine enough to resolve the pore-size scale and is thus a computationally expensive task. The cost is significantly…
Miniature-legged robots are constrained by their onboard computation and control, thus motivating the need for simple, first-principles-based geometric models that connect \emph{periodic actuation or gaits} (a universal robot control…
Swimming at low Reynolds number in Newtonian fluids is only possible through non-reciprocal body deformations due to the kinematic reversibility of the Stokes equations. We consider here a model swimmer consisting of two linked spheres,…
The mechanism of swimming at very low Reynolds number conditions is a topic of interest to biologists and engineering community. We develop a novel kinematic model of a slender flexible swimmer which locomotes in a low Reynolds number…
This study proposes the topology optimization method for moving rigid bodies subjected to forces from fluid flow, such as sails and turbines, with an unsteady time-dependent formulation. Unlike existing topology optimization frameworks in…
We explore a reduced-order model (ROM) of plane Couette flow with a view to performing turbulence control. The ROM is derived through Galerkin projections of the incompressible Navier-Stokes (NS) system onto a basis composed of…
A Finite-Volume based POD-Galerkin reduced order modeling strategy for steady-state Reynolds averaged Navier--Stokes (RANS) simulation is extended for low-Prandtl number flow. The reduced order model is based on a full order model for which…
Reduced-order models have been widely adopted in fluid mechanics, particularly in the context of Newtonian fluid flows. These models offer the ability to predict complex dynamics, such as instabilities and oscillations, at a considerably…