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A three-dimensional round liquid jet within a low-speed coaxial gas flow is numerically simulated and explained via vortex dynamics ($\lambda_2$ method). The instabilities on the liquid-gas interface reflect well the vortex interactions…
We study the coupled hydrodynamics between a motile slender microswimmer and a deformable interface that separates two Newtonian fluid regions. From the disturbance field generated by the swimming motion, we quantitatively characterize the…
This work introduces a mathematical approach to analysing the polymer dynamics in turbulent viscoelastic flows that uses a new geometric decomposition of the conformation tensor, along with associated scalar measures of the polymer…
In this paper, we present an energy-conservation based control architecture for stable dynamic motion in quadruped robots. We model the robot as a Spring-loaded Inverted Pendulum (SLIP), a model well-suited to represent the bouncing motion…
We propose a minimal model of microswimmer based on immersed boundary methods. We describe a swimmer (either pusher or puller) as a distribution of point forces, representing the swimmer's flagellum and body, with only the latter subjected…
Soft robots offer a frontier in robotics with enormous potential for safe human-robot interaction and agility in uncertain environments. A stepping stone towards unlocking their potential is a control theory tailored to soft robotics,…
The current study presents a systematic investigation of the locomotion performance of a swimmer with a wide range of parameter settings. Two-dimensional simulations with the immersed boundary method are employed for the fluid-structure…
In this work a finite element simulation of the motion of a rigid body in a fluid, with free surface, is described. A completely general referential description (of which both Lagrangian and Eulerian descriptions are special cases) of an…
Most aquatic vertebrates swim by lateral flapping of their bodies and caudal fins. While much effort has been devoted to understanding the flapping kinematics and its influence on the swimming efficiency, little is known about the stability…
Computational scientists have investigated swimming performance across a multitude of different systems for decades. Most models depend on numerous model parameters and performance is sensitive to those parameters. In this paper, parameter…
We analyze a minimal model for a rigid spherical microswimmer and explore the consequences of its extended surface on the interplay between its self-propulsion and flow properties. The model is the first order representation of…
In this paper we describe a method for modeling the dynamic behavior of splashing fluids. The model simulates the behavior of a fluid when objects impact or float on its surface. The forces generated by the objects create waves and splashes…
The field of active matter in general and microswimming in particular has experienced a rapid and ongoing expansion over the last decade. A particular interesting aspect is provided by artificial autonomous microswimmers constructed from…
We propose a computational method to solve optimal swimming problems, based on the boundary integral formulation of the hydrodynamic interaction between swimmer and surrounding fluid and direct constrained minimization of the energy…
We present a study of the hydrodynamics of an active particle, a model squirmer, in an envi- ronment with a broken rotational symmetry: a nematic liquid crystal. By combining simulations with analytic calculations, we show that the…
This paper solves the problem of station-keeping control of a surface vessel under conditions of sinusoidal disturbances with unknown parameters. The proposed control algorithm is based on the geometric approach with the use of the adaptive…
We study the fluid drift due to a time-dependent dumbbell model of a microswimmer. The model captures important aspects of real microswimmers such as a time-dependent flagellar motion and a no-slip body. The model consists of a rigid sphere…
Two different controlling methods are proposed to stabilize unstable continuous-sliding states of a dry-friction oscillator. Both methods are based on a delayed-feedback mechanism well-known for stabilizing periodic orbits in deterministic…
Synthetic microswimmers show great promise in biomedical applications such as drug delivery and microsurgery. Their locomotion, however, is subject to stringent constraints due to the dominance of viscous over inertial forces at low…
Spherical robots have garnered increasing interest for their applications in exploration, tunnel inspection, and extraterrestrial missions. Diverse designs have emerged, including barycentric configurations, pendulum-based mechanisms, etc.…