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In fluid physics, data-driven models to enhance or accelerate solution methods are becoming increasingly popular for many application domains, such as alternatives to turbulence closures, system surrogates, or for new physics discovery. In…
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…
The goal of this work is to investigate particle motions beneath unidirectional, deep-water waves up to the third-order in nonlinearity. A particular focus is on the approximation known as Stokes drift, and how it relates to the particle…
Small-scale locomotion plays an important role in biology. Different modelling approaches have been proposed in the past. The simplest model is an infinite inextensible two-dimensional waving sheet, {originally introduced by Taylor}, which…
In several biologically relevant situations, cell locomotion occurs in polymeric fluids with Weissenberg {number} larger than one. Here we present results of three-dimensional numerical simulations for the steady locomotion of a…
Legged robots offer several advantages when navigating unstructured environments, but they often fall short of the efficiency achieved by wheeled robots. One promising strategy to improve their energy economy is to leverage their natural…
We study the effect of surface gravity waves on the motion of inertial particles in an incompressible fluid. Using the multiple-scale technique, we perform an analytical calculation which allows us to predict the dynamics of such particles;…
Motion planning for locomotion systems typically requires translating high-level rigid-body tasks into low-level joint trajectories-a process that is straightforward for car-like robots with fixed, unbounded actuation inputs but more…
We introduce and investigate the wellposedness of two models describing the self-propelled motion of a "small bio-mimetic swimmer" in the 2D and 3D incompressible fluids modeled by the Navier-Stokes equations. It is assumed that the…
We derive macroscopic dynamics for self-propelled particles in a fluid. The starting point is a coupled Vicsek-Stokes system. The Vicsek model describes self-propelled agents interacting through alignment. It provides a phenomenological…
Robotic locomotion often relies on sequenced gaits to efficiently convert control input into desired motion. Despite extensive studies on gait optimization, achieving smooth and efficient gait transitions remains challenging. In this paper,…
Periodic travelling waves at the free surface of an incompressible inviscid fluid in two dimensions under gravity are numerically computed for an arbitrary vorticity distribution. The fluid domain over one period is conformally mapped from…
The present works is focused on studying bifurcating solutions in compressible fluid dynamics. On one side, the physics of the problem is thoroughly investigated using high-fidelity simulations of the compressible Navier-Stokes equations…
We study the relaxation of a highly collisional, ultracold but nondegenerate gas of polar molecules. Confined within a harmonic trap, the gas is subject to fluid-gaseous coupled dynamics that lead to a breakdown of first-order…
In this paper, we present a geometric variational algorithm for optimizing the gaits of kinematic locomoting systems. The dynamics of this algorithm are analogous to the physics of a soap bubble, with the system's Lie bracket supplying an…
We investigate the steady self-propelled motion of a rigid body immersed in a three-dimensional incompressible viscous fluid governed by the Navier-Stokes equations. The analysis is performed in a body-fixed reference frame, so that the…
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…
Shear flow of dense, non-Brownian suspensions is simulated using the discrete element method, taking particle contact and hydrodynamic lubrication into account. The resulting flow regimes are mapped in the parametric space of solid volume…
Similar to their counterparts in nature, the flexible bodies of snake-like robots enhance their movement capability and adaptability in diverse environments. However, this flexibility corresponds to a complex control task involving highly…
Any swimmer embedded on a inertialess fluid must perform a non-reciprocal motion to swim forward. The archetypal demonstration of this unique motion-constraint was introduced by Purcell with the so-called "scallop theorem". Scallop here is…