相关论文: One-dimensional swimmers in viscous fluids: dynami…
We address the problem of controlling a dynamical system governing the motion of a 3D weighted shape changing body swimming in a perfect fluid. The rigid displacement of the swimmer results from the exchange of momentum between prescribed…
The controllability of a fully three-dimensional $N$-link swimmer is studied. After deriving the equations of motion in a low Reynolds number fluid by means of Resistive Force Theory, the controllability of the minimal $2$-link swimmer is…
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…
The connection between swimming and control theory is attracting increasing attention in the recent literature. Starting from an idea of Alberto Bressan [7] we study the system of a planar body whose position and shape are described by a…
We study the local controllability properties of 2D and 3D bio-mimetic swimmers employing the change of their geometric shape to propel themselves in an incompressible fluid described by Navier-Stokes equations. It is assumed that swimmers'…
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…
In this paper we study the locomotion of a shape-changing body swimming in a two-dimensional perfect fluid of infinite extent. The shape-changes are prescribed as functions of time satisfying constraints ensuring that they result from the…
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…
Fish swim by undulating their bodies. These propulsive motions require coordinated shape changes of a body that interacts with its fluid environment, but the specific shape coordination that leads to robust turning and swimming motions…
Both natural and artificial small-scale swimmers may often self-propel in environments subject to complex geometrical constraints. While most past theoretical work on low-Reynolds number locomotion addressed idealised geometrical…
Controllability results of four models of two-link microscale swimmers that are able to change the length of their links are obtained. The problems are formulated in the framework of Geometric Control Theory, within which the notions of…
The self-propelled motion of microscopic bodies immersed in a fluid medium is studied using molecular dynamics simulation. The advantage of the atomistic approach is that the detailed level of description allows complete freedom in…
Active matter has been the object of huge amount of research in recent years for its important fundamental and applicative properties. In this paper we investigate active suspensions of micro-swimmers through direct numerical simulation, so…
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…
With the continuing rapid development of artificial microrobots and active particles, questions of microswimmer guidance and control are becoming ever more relevant and prevalent. In both the applications and theoretical study of such…
Few simulations exist for microswimmers near deformable interfaces. Here, we present numerical simulations of the hydrodynamic flows associated with a single microswimmer embedded in a binary fluid mixture. The two fluids demix, separated…
The majority of studies on self-propelled particles and microswimmers concentrates on objects that do not feature a deterministic bending of their trajectory. However, perfect axial symmetry is hardly found in reality, and shape-asymmetric…
Microorganisms ofter move in confined, disordered environments, where hydrodynamic couplings can modify their transport behavior. Using extensive finite-element simulations, we investigate the dynamics of microswimmers -- modeled as…
We derive from first principles a three-dimensional theory of self-propelled particle swarming in a viscous fluid environment. Our model predicts emergent collective behavior that depends critically on fluid opacity, mechanism of…
In this paper we focus on a two-link swimmer called scallop which moves changing dynamics between two fluids regimes. We address and solve explicitly two optimal control problems, the minimum time one and the minimum quadratic cost needed…