Related papers: Soft Mobility Theory
The biological fluids encountered by self-propelled cells display complex microstructures and rheology. We consider here the general problem of low-Reynolds number locomotion in a complex fluid. {Building on classical work on the transport…
This study proposes the topology optimization method for moving rigid bodies subjected to forces from fluid flow, such as sails and turbines, with an unsteady time-dependent formulation. Unlike existing topology optimization frameworks in…
Viscous streaming is an efficient rectification mechanism to exploit flow inertia at small scales for fluid and particle manipulation. It typically entails a fluid vibrating around an immersed solid feature that, by concentrating stresses,…
Velocity relaxation of an elastic sphere immersed in a viscous incompressible fluid is studied on the basis of the equations of linear elasticity and the linearized Navier-Stokes equations. It is found that both translational motion after a…
We propose a novel integral model describing the motion of curved slender fibers in viscous flow, and develop a numerical method for simulating dynamics of rigid fibers. The model is derived from nonlocal slender body theory (SBT), which…
Learning the inverse dynamics of soft continuum robots remains challenging due to high-dimensional nonlinearities and complex actuation coupling. Conventional feedback-based controllers often suffer from control chattering due to corrective…
The balance of pseudomomentum is discussed and applied to simple elasticity, ideal fluids, and the mechanics of inextensible rods and sheets. A general framework is presented in which the simultaneous variation of an action with respect to…
In this work we study the coupled system of partial and ordinary differential equations describing the interaction between a compressible isentropic viscous fluid and a rigid body moving freely inside the fluid. In particular the position…
The revised Enskog approximation for a fluid of hard spheres which lose energy upon collision is discussed for the case that the energy is lost from the normal component of the velocity at collision but is otherwise arbitrary. Granular…
We generalize Kirchhoff's point vortex model of two-dimensional fluid motion to a rotor model which exhibits an inverse cascade by the formation of rotor clusters. A rotor is composed of two vortices with like-signed circulations glued…
This paper presents a motion analysis framework for an athlete wearing sport-specific flexible prosthesis based on the soft-rigid hybrid-link system. Such a motion analysis is a challenging problem because we need to consider the…
We introduce a system where an elastic lattice of particles is moved slowly at a constant velocity under the influence of a local external potential, construct a rigid-body model through simplification processes, and show that the two…
A matrix formulation is derived for the calculation of the swimming speed and the power required for swimming of an assembly of rigid spheres immersed in a viscous fluid of infinite extent. The spheres may have arbitrary radii and may…
In this work, a dynamic-Immersed--Boundary method combined with a BGK-Lattice--Boltzmann technique is developed and critically discussed. The fluid evolution is obtained on a three-dimensional lattice with 19 reticular velocities (D3Q19…
Discrete mechanics is presented as an alternative to the equations of fluid mechanics, in particular to the Navier-Stokes equation. The derivation of the discrete equation of motion is built from the intuitions of Galileo, the principles of…
The mechanism of swimming at very low Reynolds number conditions is a topic of interest to biologists and engineering community. We develop a novel kinematic model of a slender flexible swimmer which locomotes in a low Reynolds number…
A flow vessel with an elastic wall can deform significantly due to viscous fluid flow within it, even at vanishing Reynolds number (no fluid inertia). Deformation leads to an enhancement of throughput due to the change in cross-sectional…
We explore hydrodynamic interactions between microswimmers and corrugated, or rough, surfaces, as found often in biological systems and microfluidic devices. Using the Lorentz reciprocal theorem for viscous flows we derive exact expressions…
In this article, we consider a swimmer (i.e. a self-deformable body) immersed in a fluid, the flow of which is governed by the stationary Stokes equations. This model is relevant for studying the locomotion of microorganisms or micro robots…
We investigate the steady self-propelled motion of a rigid body immersed in a three-dimensional incompressible viscous fluid governed by the Navier-Stokes equations. The analysis is performed in a body-fixed reference frame, so that the…