相关论文: Planar Multi-link Swimmers: Experiments and Theore…
A recent promising technique for robotic micro-swimmers is to endow them with a magnetization and apply an external magnetic field to provoke their deformation. In this note we consider a simple planar micro-swimmer model made of two…
This paper presents a Long Short-Term Memory network-based Fluid Experiment Data-Driven model (FED-LSTM) for predicting unsteady, nonlinear hydrodynamic forces on the underwater quadruped robot we constructed. Trained on experimental data…
We theoretically describe the dynamics of swimmer populations confined in thin liquid films. We first demonstrate that hydrodynamic interactions between confined swimmers only depend on their shape and are independent of their specific…
Micro-organisms expend energy moving through complex media. While propulsion speed is an important property of locomotion, efficiency is another factor that may determine the swimming gait adopted by a micro-organism in order to locomote in…
We theoretically investigate self-oscillating waves of an active material, which have recently been introduced as a non-symmetric part of the elastic moduli, termed odd elasticity. Using Purcell's three-link swimmer model, we reveal that an…
Autonomous ocean-exploring vehicles have begun to take advantage of onboard sensor measurements of water properties such as salinity and temperature to locate oceanic features in real time. Such targeted sampling strategies enable more…
We present Aquarium, a differentiable fluid-structure interaction solver for robotics that offers stable simulation, accurately coupled fluid-robot physics in two dimensions, and full differentiability with respect to fluid and robot states…
We investigate relativistic spherically symmetric static perfect fluid models in the framework of the theory of dynamical systems. The field equations are recast into a regular dynamical system on a 3-dimensional compact state space,…
In this paper, we present an approach to study the behavior of compliant plates in granular media and optimize the performance of a robot that utilizes this technique for mobility. From previous work and fundamental tests on thin plate…
Microorganisms and synthetic microswimmers often encounter complex environments consisting of networks of obstacles embedded into viscous fluids. Such settings include biological media, such as mucus with filamentous networks, as well as…
Perfect fluid spacetimes admitting a kinematic self-similarity of infinite type are investigated. In the case of plane, spherically or hyperbolically symmetric space-times the field equations reduce to a system of autonomous ordinary…
The paper presents a two-phase hydrodynamic model for the numerical simulation of collective motion in a thin layer of active colloids containing spherical microswimmers. The model accounts for three fundamental mechanisms governing the…
We introduce and investigate the wellposedness of a model describing the self-propelled motion of a small abstract swimmer in the 3-D incompressible fluid governed by the nonstationary Stokes equation, typically associated with the low…
Kinetic approaches, i.e., methods based on the lattice Boltzmann equations, have long been recognized as an appealing alternative for solving incompressible Navier-Stokes equations in computational fluid dynamics. However, such approaches…
Suspensions of swimming micro-organisms are known to undergo intricate collective dynamics as a result of hydrodynamic and collision interactions. Micro-swimmers, such as bacteria and micro-algae, naturally live and have evolved in complex…
Many animals and robots move using undulatory motion of their bodies. When in close proximity undulatory motion can lead to novel collective behaviors such as gait synchronization, spatial reconfiguration, and clustering. Here we study the…
Snakes are a remarkable evolutionary success story. Many snake-inspired robots have been proposed over the years. Soft robotic snakes (SRS) with their continuous and smooth bending capability better mimic their biological counterparts'…
Metachronal paddling is a swimming strategy in which an organism oscillates sets of adjacent limbs with a constant phase lag, propagating a metachronal wave through its limbs and propelling it forward. This limb coordination strategy is…
Microswimmers are often found in heterogeneous and crowded environments within narrow conduits under external flow conditions, enabling them to perform interesting translational and rotational maneuvers, such as swimming in the upstream…
The rheology of semidilute bacterial suspensions is studied with the tools of kinetic theory, considering binary interactions, going beyond the ideal gas approximation. Two models for the interactions are considered, which encompass both…