Related papers: Control and controllability of microswimmers by a …
In the study of microscopic flows, self-propulsion has been particularly topical in recent years, with the rise of miniature artificial swimmers as a new tool for flow control, low Reynolds number mixing, micromanipulation or even drug…
Achieving macroscopic directed migration of microscale swimmers in a fluid is an important step towards utilizing their autonomous motion. It has been experimentally shown that directed motion can be induced, without any external fields, by…
This work aims at finding optimal navigation policies for thin, deformable microswimmers that progress in a viscous fluid by propagating a sinusoidal undulation along their slender body. These active filaments are embedded in a prescribed,…
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…
In this work we consider the following question: given a mechanical microswimming mechanism, does increased deformability of the swimmer body hinder or promote the motility of the swimmer? To answer this we study a microswimmer model…
We present a flow-based control strategy that enables resource-constrained marine robots to patrol gyre-like flow environments on an orbital trajectory with a periodicity in a given range. The controller does not require a detailed model of…
Systems of motile microorganisms exhibit a multitude of collective phenomena, including motility-induced phase separation and turbulence. Sensing of the environment and adaptation of movement plays an essential role in the emergent…
Microswimmers are active particles of microscopic size that self-propel by setting the surrounding fluid into motion. According to the kind of far-field fluid flow that they induce, they are classified into pushers and pullers. Many studies…
- In this paper, we focus on a variant of a 3-link magnetic microswimmer which consists of three rigid magnetized segments connected by two torsional springs. In particular, we assume that one of the springs is twisted so that the swimmer…
This paper describes the modeling of a custom-made underwater glider capable of flexible maneuvers in constrained areas and proposes a control system. Due to the lack of external actuators, underwater gliders can be greatly influenced by…
Many aquatic organisms are able to track ambient flow disturbances and locate their source. These tasks are particularly challenging because they require the organism to sense local flow information and respond accordingly. Details of how…
In a fluid environment, flagellated microswimmers propel themselves by rotating their flagella. The morphology of these flagella significantly influences forward speed, swimming efficiency, and directional stability, which are critical for…
The behavior of living systems is based on the experience they gained through their interactions with the environment [1]. This experience is stored in the complex biochemical networks of cells and organisms to provide a relationship…
Microswimmers are encountered in a wide variety of biophysical settings. When interacting with flow fields, they show interesting dynamical features such as trapping, clustering, and preferential orientation. One important step towards the…
Physics governing the locomotion of microorganisms and other microsystems is dominated by viscous damping. An effective swimming strategy involves the non-reciprocal and periodic deformations of the considered body. Here, we show that a…
Microswimmers in turbulent flows often navigate complex, heterogeneous, and obstacle-rich environments, where they exhibit intricate behaviors such as trapping at and escape from obstacles. We generalize recent $\mathcal{Q}-$learning…
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…
Trajectory tracking for microswimmers remains a key challenge in microrobotics, where low-Reynolds-number dynamics make control design particularly complex. In this work, we formulate the trajectory tracking problem as an optimal control…
We study two microswimmers consisting of a spherical rigid head and a passive elastic tail. In the first one the tail is clamped to the head, and the system oscillates under the action of an external torque. In the second one, head and tail…
We investigate the hydrodynamic stability and transport of magnetic microswimmers in an external field using a kinetic theory framework. Combining linear stability analysis and nonlinear 3D continuum simulations, we show that for…