Related papers: Modelling, Controllability and Gait Design for a S…

Artificial microswimmers, or "microbots" have the potential to revolutionise non-invasive medicine and microfluidics. Microbots that are powered by self-phoretic mechanisms, such as Janus particles, often harness a solute fuel in their…

A millimetre-size superhydrophobic sphere impacting on the free surface of a quiescent bath can be propelled back into the air by capillary effects and dynamic fluid forces, whilst transferring part of its energy to the fluid. We report the…

Droplet impact on solid surfaces is a fluid phenomenon widely involved in additive manufacturing, heat management, and coating, in which the ability to exert control over the impact dynamics and duration is critical. While past studies have…

This paper presents a combined sliding-mode control and subspace stabilization methodology for orbital stabilization of periodic trajectories in underactuated mechanical systems with one degree of underactuation. The approach starts with…

An incremental wave superimposed on a pre-deformed hyper-elastic material perceives an elastic media with the instantaneous modulus of the current material. This offers a new route with a broadband feature to control elastic waves by…

We present a novel method to investigate the dynamics of a single semiflexible polymer, subject to anisotropic friction in a viscous fluid. In contrast to previous approaches, we do not rely on a discrete bead-rod model, but introduce a…

We investigate theoretically the collective dynamics of a suspension of low Reynolds number swimmers that are confined to two dimensions by a thin fluid film. Our model swimmer is characterized by internal degrees of freedom which locally…

As a model is only an abstraction of the real system, unmodeled dynamics, parameter variations, and disturbances can result in poor performance of a conventional controller based on this model. In such cases, a conventional controller…

Super hydrophobic surfaces have been the focus of research in the recent years.One of the reasons for this is the self cleaning property of these surfaces which emerges from the ability of the droplets to roll freely over them.However…

Discrete and periodic contact switching is a key characteristic of steady-state legged locomotion. This paper introduces a framework for modeling and analyzing this contact-switching behavior through the framework of geometric mechanics on…

Self-propelled particles have been experimentally shown to orbit spherical obstacles and move along surfaces. Here, we theoretically and numerically investigate this behavior for a hydrodynamic squirmer interacting with spherical objects…

We experimentally study the flow past a rigid plate with an attached closed filament acting as a deformable afterbody in the soap film. The complex fluid-structure interactions due to its deformable shape and corresponding dynamics are…

We investigate the nonequilibrium dynamics of spherical active Brownian particles in three spatial dimensions that interact via a pair potential. The investigation is based on a predictive local field theory that is derived by a rigorous…

We consider a family of stochastic models of evolving two-dimensional Young diagrams, given in terms of certain energies, with Gibbs invariant measures. `Static' scaling limits of the shape functions, under these Gibbs measures, have been…

The use of soft robotics for real-world underwater applications is limited, even more than in terrestrial applications, by the ability to accurately measure and control the deformation of the soft materials in real time without the need for…

Many biological microswimmers can modulate their swimming gait to achieve directional control of motility, especially when performing steering towards specific directional cues. This can be achieved without the need for obvious…

This paper presents a generalization of conventional sliding mode control designs for systems in Euclidean spaces to fully actuated simple mechanical systems whose configuration space is a Lie group for the trajectory-tracking problem. A…

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…

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…

We theoretically and computationally study the low-Reynolds-number hydrodynamics of a linear active microswimmer surfing on a compressible thin fluid layer characterized by an odd viscosity. Since the underlying three-dimensional fluid is…