相关论文: Optimal Design for Purcell Three-link Swimmer
One of simplest examples of navigation found in nature is run-and-tumble chemotaxis. Tumbles reorient cells randomly, and cells can drift toward attractants or away from repellents by biasing the frequency of these events. The post-tumble…
The swimming of a bead-spring chain in a viscous incompressible fluid as a model of a sperm is studied in the framework of low Reynolds number hydrodynamics. The optimal mode in the class of planar flagellar strokes of small amplitude is…
The trajectories of microswimmers moving in narrow channels of widths comparable to their sizes are significantly altered when they encounter another microswimmer moving in the opposite direction. The consequence of these encounters is a…
Here we introduce a two-dimensional (2D) low-Reynolds swimmer and discuss the motion of the swimmer both in noise-free and stochastic regimes. Three spheres, linked by extensible arms, in a plane form the triangle body of micro-swimmer.…
Resourceful operation and design of robots is key for sustainable industrial automation. This will be enabled by lightweight design along with time and energy optimal control of robotic manipulators. Design and control of such systems is…
We derive a theorem for the lower bound on the energy dissipation rate by a rigid surface-driven active microswimmer of arbitrary shape in a fluid at low Reynolds number. We show that, for any swimmer, the minimum dissipation at a given…
We consider a classical elastohydrodynamic model of an inextensible filament undergoing planar motion in $\mathbb{R}^3$. The hydrodynamics are described by resistive force theory, and the fiber elasticity is governed by Euler-Bernoulli beam…
Online approximation of the optimal station keeping strategy for a fully actuated six degrees-of-freedom marine craft subject to an irrotational ocean current is considered. An approximate solution to the optimal control problem is obtained…
Bead-based micro-swimmers are promising systems for payload delivery on the micro-scale. However, the principles underlying their optimal design are not yet fully understood. Here we study a simple device consisting of three…
Soft robotics has the potential to revolutionize robotic locomotion, in particular, soft robotic swimmers offer a minimally invasive and adaptive solution to explore and preserve our oceans. Unfortunately, current soft robotic swimmers are…
Artificial microswimmers, nano and microrobots, are essential in many applications from engineering to biology and medicine. We present a Stokesian Dynamics study of the dynamical properties and efficiency of one of the simplest artificial…
Wave-driven desalination systems are an innovative solution to the global freshwater crisis, leveraging the complementary characteristics of seawater reverse osmosis and wave energy converters. However, the high costs of this system pose a…
An increasing number of electronics are directly embedded on the clothing to monitor human status (e.g., skeletal motion) or provide haptic feedback. A specific challenge to prototype and fabricate such a clothing is to design the wiring…
We propose a protocol to model accurately the electromechanical behavior of dielectric elastomer membranes using experimental data of stress-stretch and voltage-stretch tests. We show how the relationship between electric displacement and…
The dynamics of a triangular magnetocapillary swimmer is studied using the lattice Boltzmann method. Performing extensive numerical simulations taking into account the coupled dynamics of the fluid-fluid interface and of magnetic particles…
Microswimmers, and among them aspirant microrobots, generally have to cope with flows where viscous forces are dominant, characterized by a low Reynolds number ($Re$). This implies constraints on the possible sequences of body motion, which…
We discuss the path of a tracer particle as a microswimmer moves past on an infinite straight trajectory. If the tracer is sufficiently far from the path of the swimmer it moves in a closed loop. As the initial distance between the tracer…
Finding optimal trajectories for multiple traffic demands in a congested network is a challenging task. Optimal transport theory is a principled approach that has been used successfully to study various transportation problems. Its usage is…
Ciliated microorganisms near the base of the aquatic food chain either swim to encounter prey or attach at a substrate and generate feeding currents to capture passing particles. Here, we represent attached and swimming ciliates using a…
A discrete multistate kinetic model for water-wire proton transport is constructed and analyzed using Monte-Carlo simulations. The model allows for each water molecule to be in one of three states: oxygen lone pairs pointing leftward,…