相关论文: Numerical Strategies for Stroke Optimization of Ax…

Many biological microswimmers locomote by periodically beating the densely-packed cilia on their cell surface in a wave-like fashion. While the swimming mechanisms of ciliated microswimmers have been extensively studied both from the…

In this work, we develop a computational framework that aims at simultaneously optimizing the shape and the slip velocity of an axisymmetric microswimmer suspended in a viscous fluid. We consider shapes of a given reduced volume that…

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…

This article presents a computational approach for determining the optimal slip velocities on any given shape of an axisymmetric micro-swimmer suspended in a viscous fluid. The objective is to minimize the power loss to maintain a target…

Robotic swimmers are currently a subject of extensive research and development for several underwater applications. Clever design and planning must rely on simple theoretical models that account for the swimmer's hydrodynamics in order to…

This article presents a computational framework for determining the optimal slip velocity of a microswimmer with arbitrary three-dimensional geometry suspended in a viscous fluid. The objective is to minimize the hydrodynamic power…

Swimming consists by definition in propelling through a fluid by means of bodily movements. Thus, from a mathematical point of view, swimming turns into a control problem for which the controls are the deformations of the swimmer. The aim…

We study self propelled stokesian robots composed of assemblies of balls, in dimensions 2 and 3, and prove that they are able to control their position and orientation. This is a result of controllability, and its proof relies on applying…

We combine a general formulation of microswimmmer equations of motion with a numerical bead-shell model to calculate the hydrodynamic interactions with the fluid, from which the swimming speed, power and efficiency are extracted. From this…

The three-sphere swimmer by Najafi and Golestanian is composed of three spheres connected by two arms. The case in which the swimmer can control the lengths of the two arms has been studied in detail. Here we study a variation of the model…

Understanding and optimizing the design of helical micro-swimmers is crucial for advancing their application in various fields. This study presents an innovative approach combining Free-Form Deformation with Bayesian Optimization to enhance…

Various microswimmers move along circles rather than straight lines due to their swimming mechanisms, body shapes or hydrodynamic effects. Here, we adopt the concepts of stochastic thermodynamics to analyze circle swimmers confined in a…

Optimal gait design is important for micro-organisms and micro-robots that propel themselves in a fluid environment in the absence of external force or torque. The simplest models of shape changes are those that comprise a series of…

We discuss a micro-swimmer model made of three spheres actuated by an internal active time-periodic force, tied by an elastic potential and submitted to hydrodynamic interactions with thermal noise. The dynamical approach we use, replacing…

Efficient locomotion is important for the evolution of complex life, yet the physical principles selecting specific swimming strokes often remain entangled with biological constraints. In viscous fluids, the scallop theorem constrains the…

Swimming velocity and rate of dissipation of a sphere with surface distortions are discussed on the basis of the Stokes equations of low Reynolds number hydrodynamics. At first the surface distortions are assumed to cause an irrotational…

Efficient swimming at low Reynolds numbers is a major concern of microbots. To compare the efficiencies of different swimmers we introduce the notion of ``swimming drag coefficient'' which allows for the ranking of swimmers. We find the…

In a recent letter (Friedrich et al., Phys. Rev. Lett. 109:138102, 2012), a minimal model swimmer was proposed that propels itself at low Reynolds numbers by a revolving motion of a pair of spheres. The motion of the two spheres can…

We present an automated procedure for the design of optimal actuation for flagellar magnetic microswimmers based on numerical optimization. Using this method, a new magnetic actuation method is provided which allows these devices to swim…

Computational scientists have investigated swimming performance across a multitude of different systems for decades. Most models depend on numerous model parameters and performance is sensitive to those parameters. In this paper, parameter…