Related papers: Soft Mobility Theory
Statistical mechanics provides an elegant explanation to the appearance of coherent structures in two-dimensional inviscid turbulence: while the fine-grained vorticity field, described by the Euler equation, becomes more and more filamented…
The Lorentz reciprocal theorem -- that is used to study various transport phenomena in hydrodynamics -- is violated in chiral active fluids that feature odd viscosity with broken time-reversal and parity symmetries. Here we show that the…
Hydrodynamics is nowadays understood as an effective field theory that describes the dynamics of the long-wavelength and slow-time fluctuations of an underlying microscopic theory. In this work we extend the relativistic hydrodynamics to…
We investigate a model for the dynamics of a solid object, which moves over a randomly vibrating solid surface and is subject to a constant external force. The dry friction between the two solids is modeled phenomenologically as being…
Velocity relaxation of a spherically symmetric polymer, immersed in a viscous incompressible fluid, and after a sudden small impulse or a sudden twist from a state of rest, is studied on the basis of the linearized Navier-Stokes equations…
We address the system of partial differential equations modeling motion of an elastic body interacting with an incompressible fluid. The fluid is modeled by the incompressible Navier-Stokes equations while the structure is represented by a…
We consider the problem of motion of several rigid bodies immersed in a perfect compressible fluid. Using the method of convex integration we establish the existence of infinitely many weak solutions with {\it a priori} prescribed motion of…
Fluid-based locomotion at low Reynolds number is subject to the constraints of the scallop theorem, which dictate that body kinematics identical under a time-reversal symmetry (in particular, those with a single degree of freedom) cannot…
In this work, we study active particles with prescribed surface velocities in non-Newtonian fluids. We employ the reciprocal theorem to obtain the velocity of an active spherical particle with an arbitrary axisymmetric slip-velocity in an…
We study soft limits of correlation functions for the density and velocity fields in the theory of structure formation. First, we re-derive the (resummed) consistency conditions at unequal times using the eikonal approximation. These are…
This paper presents a modular framework for motion planning using movement primitives. Central to the approach is Contraction Theory, a modular stability tool for nonlinear dynamical systems. The approach extends prior methods by achieving…
A simple rearrangement of the torque free motion Hamiltonian shapes it as a perturbation problem for bodies rotating close to the principal axis of maximum inertia, independently of their triaxiality. The complete reduction of the main part…
We study the lubrication of fluid-immersed soft interfaces and show that elastic deformation couples tangential and normal forces and thus generates lift. We consider materials that deform easily, due to either geometry (e.g. a shell) or…
Elastic confinements play an important role in many soft matter systems and affect the transport properties of suspended particles in viscous flow. On the basis of low-Reynolds-number hydrodynamics, we present an analytical theory of the…
There has been recent progress in developing well-posed theories of relativistic viscous hydrodynamics and of gravitational effective field theories. These have in common the feature that they introduce unphysical degrees of freedom. We…
Understanding swimming in soft yielding media is challenging due to their complex deformation response to the swimmer's motion. We experimentally show that a scallop-inspired swimmer with reciprocally flapping wings generates locomotion in…
This paper employs the post-Newtonian approximations of scalar-tensor theory of gravity along with the Cartesian STF tensors and the Blanchet-Damour multipole formalism to derive translational and rotational equations of motion of N…
Using well-known mathematical foundations of the elasticity theory, a mathematical model for two solutes transport in a poroelastic material (soft tissue is a typical example) is suggested. It is assumed that molecules of essentially…
We present fully three-dimensional equations to describe the rotations of a body made of a deformable mantle and a fluid core. The model in its essence is similar to that used by INPOP (Integration Plan\'{e}taire de l'Observatoire de…
Soft robotic manipulators provide numerous advantages over conventional rigid manipulators in fragile environments such as the marine environment. However, developing analytic inverse models necessary for shape, motion, and force control of…