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The current work studies the dynamics of a microswimmer in pressure-driven flow of a weakly viscoelastic fluid. Employing the second-order fluid model, we show that the self-propelling swimmer experiences a viscoelastic swimming lift in…
We numerically study the controllability of quantum dynamics in perturbed one-dimensional double-well potential by using an optimal control theory. As the perturbation strength is small the dynamics of the initially localized aussian…
In this paper, we propose and demonstrate an adaptive-sliding mode control for trajectory tracking control of robot manipulators subjected to uncertain dynamics, vibration disturbance, and payload variation disturbance. Throughout this work…
Microswimmers, and among them aspirant microrobots, generally have to cope with flows where viscous forces are dominant, characterized by a low Reynolds number ($Re$). This implies constraints on the possible sequences of body motion, which…
While the dynamics of polymer chains in equilibrium media is well understood by now, the polymer dynamics in active non-equilibrium environments can be very different. Here we study the dynamics of polymers in a viscous medium containing…
A stiff one-armed swimmer in glycerine goes nowhere, but if its arm is elastic, exerting a restorative torque proportional to local curvature, the swimmer can go on its way. Considering this happy consequence and the principles of…
Microswimmers are exposed in nature to crowded environments and their transport properties depend in a subtle way on the interaction with obstacles. Here, we investigate a model for a single ideal circle swimmer exploring a two-dimensional…
The acoustofluidic method holds great promise for manipulating microorganisms. When exposed to the steady vortex structures of acoustic streaming flow, these microorganisms exhibit intriguing dynamic behaviors, such as hydrodynamic trapping…
Micro-organisms propel themselves in viscous environments by the periodic, nonreciprocal beating of slender appendages known as flagella. Active materials have been widely exploited to mimic this form of locomotion. However, the realization…
Self-organized dynamic patterns in dense active matter are striking manifestations of non-equilibrium physics. A prominent example is the macroscopic elliptical motion observed in quasi-2D bacterial suspensions, which has lacked a physical…
The non-equilibrium structural and dynamical properties of a semiflexible polymer confined in a cylindrical microchannel and exposed to a Poiseuille flow is studied by mesoscale hydrodynamic simulations. For a polymer with a length half of…
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…
The hydrodynamic interactions between a sedimenting microswimmer and a solid wall have ubiquitous biological and technological applications. A plethora of gravity-induced swimming dynamics near a planar no-slip wall provides a platform for…
Biological and artificial microswimmers often self-propel in external flows of vortical nature; relevant examples include algae in small-scale ocean eddies, spermatozoa in uterine peristaltic flows and bacteria in microfluidic devices. A…
We consider a control system describing the interaction of water waves with a partially immersed rigid body constraint to move only in the vertical direction. The fluid is modeled by the shallow water equations. The control signal is a…
We present a new walking foot-placement controller based on 3LP, a 3D model of bipedal walking that is composed of three pendulums to simulate falling, swing and torso dynamics. Taking advantage of linear equations and closed-form solutions…
We investigate wave propagation in curved, thin elastic waveguides, where curvature is shown to be equivalent to a spatially modulated refractive index. We establish this relationship within a theoretical framework that leverages…
The short- and long-scale behaviour of tangled wave vortices (nodal lines) in random three-dimensional wave fields is studied via computer experiment. The zero lines are tracked in numerical simulations of periodic superpositions of…
Guiding active microswimmers by external fields to requested target locations is a promising strategy to realize complex transport on the microscale. To this end, one possibility consists of attaching the microswimmers to orientable passive…
We study the boundary exact controllability for the quasilinear wave equation in the higher-dimensional case. Our main tool is the geometric analysis. We derive the existence of long time solutions near an equilibrium, prove the locally…