Related papers: Soft Mobility Theory
We study exact solutions for the slow viscous flow of an infinite liquid caused by two rigid spheres approaching each either along or parallel to their line of centres, valid at all separations. This goes beyond the applicable range of…
We study a 2D potential flow of an ideal fluid with a free surface with decaying conditions at infinity. By using the conformal variables approach, we study a particular solution of Euler equations having a pair of square-root branch points…
Explicit analytical expressions for the drag and diffusion coefficients of a spherical particle attached to the interface between two immiscible fluids are constructed for the case of a small viscosity ratio between the fluid phases. The…
We present SoftSMPL, a learning-based method to model realistic soft-tissue dynamics as a function of body shape and motion. Datasets to learn such task are scarce and expensive to generate, which makes training models prone to overfitting.…
Soft robotics is an emerging field of research where the robot body is composed of compliant and soft materials. It allows the body to bend, twist, and deform to move or to adapt its shape to the environment for grasping, all of which are…
The deformable and continuum nature of soft robots promises versatility and adaptability. However, control of modular, multi-limbed soft robots for terrestrial locomotion is challenging due to the complex robot structure, actuator mechanics…
Dynamics of a dry-rebounding drop was studied experimentally, numerically, and theoretically. Experimental results were reproduced by our computational fluid dynamics simulations, from which time series of kinetic energy, potential energy,…
This paper investigates the behavior of a heavy soft spring in steady circular motion. Since the spring is inhomogeneous due to centrifugal force, one can rigorously prove that it follows the one-dimensional static Willis-form equations.…
Cutting-edge smart materials are transforming the domains of soft robotics, actuators, and sensors by harnessing diverse non-mechanical stimuli, such as electric and magnetic fields. Accurately modelling their physical behaviour…
The shear viscosity is a fundamental transport property of matter. Here we derive a general theory of the viscosity of gases based on the relativistic Langevin equation (deduced from a relativistic Lagrangian) and nonaffine linear response…
The locomotion of flexible membrane-like organisms on top of curved surfaces appears in different contexts and scales. Still, such dynamics have not yet been quantitatively modeled and no realization of such motion in manmade systems has…
This paper is concerned with the problem of estimating (interpolating and smoothing) the shape (pose and the six modes of deformation) of a slender flexible body from multiple camera measurements. This problem is important in both biology,…
We derive an exact equation for density changes induced by a general external field that corrects the hydrostatic approximation where the local value of the field is adsorbed into a modified chemical potential. Using linear response theory…
In this work a finite element simulation of the motion of a rigid body in a fluid, with free surface, is described. A completely general referential description (of which both Lagrangian and Eulerian descriptions are special cases) of an…
The locomotion and design of microswimmers are topical issues of current fundamental and applied research. In addition to numerous living and artificial active microswimmers, a passive microswimmer was identified only recently: a soft,…
We present a hybrid Eulerian-Lagrangian method for the direct simulation of three-dimensional, heterogeneous structures made of soft fibers and immersed in incompressible viscous fluids. Fiber-based organization of matter is pervasive in…
A geometrically nonlinear theory for field dislocation thermomechanics based entirely on measurable state variables is proposed. Instead of starting from an ordering-dependent multiplicative decomposition of the total deformation gradient…
We study swimming of small spherical particles who regulate fluid flow on their surface by applying tangential squirming strokes. We derive translational and rotational velocities for any given stroke which is not restricted by axial…
The equations of motion governing small elastic oscillations of materials, induced by gravitational waves, are derived from the general framework of Carter and Quintana. In transverse-traceless gauge, no bulk forces are present, and the…
Viscous streaming is an efficient mechanism to exploit inertia at the microscale for flow control. While streaming from rigid features has been thoroughly investigated, when body compliance is involved, as in biological settings, little is…