相关论文: Planar Multi-link Swimmers: Experiments and Theore…
The current study presents a systematic investigation of the locomotion performance of a swimmer with a wide range of parameter settings. Two-dimensional simulations with the immersed boundary method are employed for the fluid-structure…
This paper reports the design and implementation of a three-link brachiation robot. The robot is able to travel along horizontal monkey bars using continuous arm swings. We build a full order dynamics model for the robot and formulate each…
Simple, linear equations relate microscopic swimmers to the corresponding gliders and pumps. They have the following set of consequences: The swimming velocity of free swimmers can be inferred from the force on the tethered swimmer and vice…
Recent research on mobile robots has focused on increasing their adaptability to unpredictable and unstructured environments using soft materials and structures. However, the determination of key design parameters and control over these…
This paper introduces a simulation study of fluid actuated multi-driven closed system as spherical mobile robot called "RollRoller". Robot's mechanism design consists of two essential parts: tubes to lead a core and mechanical controlling…
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…
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…
We propose a very simple one-dimensional swimmer consisting of three spheres that are linked by rigid rods whose lengths can change between two values. With a periodic motion in a non-reciprocal fashion, which breaks the time-reversal…
We present a new development of the force-coupling method (FCM) to address the accurate simulation of a large number of interacting micro-swimmers. Our approach is based on the squirmer model, which we adapt to the FCM framework, resulting…
Vascular diseases such as atherosclerosis, thrombosis, and aneurysms can lead to life-threatening medical events. Conventional catheter- or guidewire-based interventional devices often struggle to navigate through highly tortuous…
Swimming microorganisms often self propel in fluids with complex rheology. While past theoretical work indicates that fluid viscoelasticity should hinder their locomotion, recent experiments on waving swimmers suggest a possible…
Flagellated microswimmers are ubiquitous in natural habitats. Understanding the hydrodynamic behavior of these cells is of paramount interest, owing to their applications in bio-medical engineering and disease spreading. Since the last two…
The optimal strategy for a microscopic swimmer to migrate across a linear shear flow is discussed. The two cases, in which the swimmer is located at large distance, and in the proximity of a solid wall, are taken into account. It is shown…
Soft robotic snakes made of compliant materials can continuously deform their bodies and, therefore, mimic the biological snakes' flexible and agile locomotion gaits better than their rigid-bodied counterparts. Without wheel support, to…
We analyze two- and three-link planar snake-like locomotion and optimize the motion for efficiency. The locomoting system consists of two or three identical inextensible links connected via hinge joints, and the angles between the links are…
The rapidly advancing fields of statistical modeling and machine learning have significantly enhanced data-driven design and optimization. This paper focuses on leveraging these design algorithms to optimize a medical walker, an integral…
We study the trajectories of a model microorganism inside three-dimensional channels with square and rectangular cross-sections. Using (i) numerical simulations based on lattice-Boltzmann method, and (ii) analytical expressions using…
Multiparticle collision dynamics is a modern coarse-grained simulation technique to treat the hydrodynamics of Newtonian fluids by solving the Navier-Stokes equations. Naturally, it also includes thermal noise. Initially it has been applied…
Collective behaviour in suspensions of microswimmers is often dominated by the impact of long-ranged hydrodynamic interactions. These phenomena include active turbulence, where suspensions of pusher bacteria at sufficient densities exhibit…
As technological advances allow us to fabricate smaller autonomous self-propelled devices, it is clear that at some point directed propulsion could not come from pre-specified deterministic periodic deformation of the swimmer's body and we…