相关论文: Optimal Design for Purcell Three-link Swimmer
This work puts forth a new optimal design formulation for planar elastic membranes. The goal is to minimize the membrane's compliance through choosing the material distribution described by a positive Radon measure. The deformation of the…
A key problem in robotic locomotion is in finding optimal shape changes to effectively displace systems through the world. Variational techniques for gait optimization require estimates of body displacement per gait cycle; however, these…
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…
Purcell's scallop theorem states that swimmers deforming their shapes in a time-reversible manner ("reciprocal" motion) cannot swim. Using numerical simulations and theoretical calculations we show here that in a fluctuating environment,…
We propose minimal models of one-, two- and three-dimensional micro-swimmers at low Reynolds number with a periodic non-reciprocal motion. These swimmers are either "pushers" or "pullers" of fluid along the swimming axis, or combination of…
We study the three-dimensional dynamics of a spherical microswimmer in cylindrical Poiseuille flow which can be mapped onto a Hamiltonian system. Swinging and tumbling trajectories are identified. In 2D they are equivalent to oscillating…
In Stokes flow, Purcell's scallop theorem forbids objects with time-reversible (reciprocal) swimming strokes from moving. In the presence of inertia, this restriction is eased and reciprocally deforming bodies can swim. A number of recent…
A single flexible filament can be actuated to escape from the scallop theorem and generate net propulsion at low Reynolds number. In this work, we study the dynamics of a simple boundary-driven multi-filament swimmer, a two-arm clamshell…
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…
According to the topological design theory and method of parallel mechanism (PM) based on position and orientation characteristic (POC) equations, this paper design a novel 3-translation (3T) PM that has three advantages, i.e., 1) it…
We study the fluid drift due to a time-dependent dumbbell model of a microswimmer. The model captures important aspects of real microswimmers such as a time-dependent flagellar motion and a no-slip body. The model consists of a rigid sphere…
In this work we address the "smoking ring" propulsion technique, originally proposed by E. M. Purcell. We first consider self-locomotion of a doughnut-shaped swimmer powered by surface tank-treading. Different modes of surface motion are…
Contrasting the well explored problem on how to steer a macroscopic agent like an airplane or a moon lander to optimally reach a target, "optimal microswimming", i.e. the quest for the optimal navigation strategy for microswimmers, remains…
Energy consumption optimization of a two-link planar robotic arm is considered with the system's efficiency being the target for optimization. A new formulation of thermodynamic principles within the framework of dynamical systems is used.…
This paper focuses on the mechanism of propulsion of a Purcell swimmer whose segments are magnetized and react to an external magnetic field applied into the fluid. By an asymptotic analysis, we prove that it is possible to steer the…
Robotic adaptation to unanticipated operating conditions is crucial to achieving persistence and robustness in complex real world settings. For a wide range of cutting-edge robotic systems, such as micro- and nano-scale robots, soft robots,…
We seek the best stroke sequences of a finite-size swimming predator chasing a non-motile point or finite--size prey at low Reynolds number. We use optimal control to seek the globally-optimal solutions for the former and RL for general…
Locomotion on small scales is dominated by the effects of viscous forces and, as a result, is subject to strong physical and mathematical constraints. Following Purcell's statement of the scallop theorem which delimitates the types of…
We investigate the three-dimensional compressible Euler-Maxwell system, a model for simulating the transport of electrons interacting with propagating electromagnetic waves in semiconductor devices. First, we show the global well-posedness…
Inspired by the classical Kepler and Rutherford problem, we investigate an analogous set-up in the context of active microswimmers: the behavior of a deformable microswimmer in a swirl flow. First we identify new steady bound states in the…