Related papers: Modelling, Controllability and Gait Design for a S…
A theoretical and experimental study of the spin-over mode induced by the elliptical instability of a flow contained in a slightly deformed rotating spherical shell is presented. This geometrical configuration mimics the liquid rotating…
We propose a combined analytical-numerical strategy to predict the dynamics and trajectory of a microswimmer next to a curved spherical obstacle. The microswimmer is actuated by a slip velocity on its surface and a uniformly valid solution…
We study the motion of a microscopic swimmer composed of a semiflexible polymer anchored at the surface of a magnetic sphere using hydrodynamic simulations and scaling arguments. The swimmer is driven by a rotating magnetic field, and…
Swimming of a sphere in a viscous incompressible fluid is studied on the basis of the Navier-Stokes equations for wave-type distortions of the spherical shape. At sizable values of the dimensionless scale number the mean swimming velocity…
We report on dynamic properties of a simple model microswimmer composed of three spheres and propelling itself in a viscous fluid by spinning motion of the spheres under zero net torque constraint. At a fixed temperature and increasing the…
We study the snapping instability of a spherical elastic shell induced by a viscous flow, the umbrella flipping problem when life is at low Reynolds numbers. We combine precision desktop-scale experiments, fluid-structure simulations, shell…
This paper introduces a simulation study of fluid actuated multi-driven closed system as spherical mobile robot called "RollRoller". Robot's mechanism design consists of two essential parts: tubes to lead a core and mechanical controlling…
In this paper, we study the approximate controllability of a system governed by an evolution problem known as the sloshing problem. This problem involves a spatial, nonlocal differential operator inherent in the dynamics of a…
To mimic the motion of biological swimmers in bodily fluids, a novel experimental system of micellar solubilization driven active droplets in a visco-elastic polymeric solution is presented. The visco-elastic nature of the medium,…
Navigation in turbulent environments is a fundamental challenge for biological and artificial microswimmers. While most existing studies focus on adapting motility or steering, the role of active morphological changes in navigation remains…
A single flexible filament can be actuated to escape from the scallop theorem and generate net propulsion at low Reynolds number. In this work, we study the dynamics of a simple boundary-driven multi-filament swimmer, a two-arm clamshell…
External gradients can strongly influence the collective behavior of microswimmers. In this paper, we study the behavior of two hydrodynamically interacting self-propelled chiral swimmers, in the low-Reynolds number regime, under the…
Autonomous underwater gliders use buoyancy control to achieve forward propulsion via a sawtooth-like, rise-and-fall trajectory. Because gliders are slow-moving relative to ocean currents, glider control must consider the effect of oceanic…
We propose a cloak for coupled shear and pressure waves in solids. Its elastic properties are deduced from a geometric transform that retains the form of Navier equations. The spherical shell is made of an anisotropic and heterogeneous…
This paper presents a new method for modelling the dynamic behaviour of developable ribbons, two dimensional strips with much smaller width than length. Instead of approximating such surface with a general triangle mesh, we characterize it…
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…
Recent experimental studies have shown that confinement can profoundly affect self-organization in semi-dilute active suspensions, leading to striking features such as the formation of steady and spontaneous vortices in circular domains and…
Self-propelled phoretic swimmers are generally studied in the laminar flow regime, where their low speed renders inertial effects negligible and trajectories highly predictable. This research tackles the challenge of propulsion in the…
This work introduces two multi-level control strategies to address the problem of guidance and control of underwater vehicles. An outer-loop path-following algorithm and an outer-loop trajectory tracking algorithm are presented. Both…
Model-based manipulation of deformable objects has traditionally dealt with objects while neglecting their dynamics, thus mostly focusing on very lightweight objects at steady state. At the same time, soft robotic research has made…