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This paper applies a recently developed geometric PID controller to stabilize a three-link planar bipedal hybrid dynamic walking model. The three links represent the robot torso and two kneeless legs, with an independent control torque…
The morphology and the microscopic internal dynamics of a bidimensional gel formed by spontaneous aggregation of gold nanoparticles confined at the water surface are investigated by a suite of techniques, including grazing-incidence x-ray…
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…
Control of multistable dynamical system has important applications, from physics to biology. Here, we attack this problem from the perspective of local sensitivity analysis. We develop sensitivity rules to control properties of…
We consider the 3D Navier-Stokes system driven by an additive finite-dimensional control force. The purpose of this paper is to show how the approximate controllability of this system can be derived from the approximate controllability of…
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…
In this work, we study the transport of vorticity on curved dynamical two-dimensional magnetic membranes. We find that topological transport can be controlled by geometrically reducing symmetries, enabling processes absent from flat…
We study the exact controllability for spatially periodic water waves with surface tension, by localized exterior pressures applied to free surfaces. We prove that in any dimension, the exact controllability holds within arbitrarily short…
Biological and artificial microswimmers often have to propel through a variety of environments, ranging from heterogeneous suspending media to strong geometrical confinement. Under confinement, local flow fields generated by microswimmers,…
We study a planar motion of two hydrodynamically coupled non-identical micro-swimmers, each modelled as a force dipole with intrinsic self-propulsion. Using the method of images, we demonstrate that our results remain equally applicable at…
Particles traveling at high velocities through microfluidic channels migrate from their starting streamlines due to inertial lift forces. Theories predict different scaling laws for these forces and there is little experimental evidence by…
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…
Inchworm crawling allows for both quasistatic and dynamic gaits at a wide range of actuation frequencies. This locomotion mechanism is common in nonskeletal animals and exploited extensively in the bio-inspired field of soft robotics. In…
Geometric confinement plays an important role in the dynamics of natural and synthetic microswimmers from bacterial cells to self-propelled particles in high-throughput microfluidic devices. However, little is known about the effects of…
Self-propelled microorganisms, such as unicellular algae or bacteria, swim along their director relative to the fluid velocity. Under a steady shear flow the director rotates in close orbit, a periodic structure that is preserved under an…
We study the over-damped dynamics of individual one-dimensional elastic filaments subjected to a chiral active force which propels each point of the filament at a fixed angle relative to the tangent vector of the filament at that point.…
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…
A recently developed theory of stochastic swimming is used to study the notion of coherence in active systems that couple via hydrodynamic interactions. It is shown that correlations between various modes of deformation in stochastic…
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…
Small organisms (e.g., bacteria) and artificial microswimmers move due to a combination of active swimming and passive Brownian motion. Considering a simplified linear three-sphere swimmer, we study how the swimmer size regulates the…