相关论文: Planar Multi-link Swimmers: Experiments and Theore…

The properties of biological microswimmers are to a large extent determined by fluid-mediated interactions, which govern their propulsion, perception of their surrounding, and the steering of their motion for feeding or in pursuit.…

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…

We present an optimization-based motion planning algorithm to compute a smooth, collision-free trajectory for a manipulator used to transfer a liquid from a source to a target container. We take into account fluid dynamics constraints as…

It has been shown that an anisotropic liquid crystalline (LC) environment can be used to guide the self-propulsion dynamics of dispersed microswimmers, such as bacteria. This type of composite system is named "living nematic" (LN). In the…

We design and simulate the motion of a new swimmer, the {\it Quadroar}, with three dimensional translation and reorientation capabilities in low Reynolds number conditions. The Quadroar is composed of an $\texttt{I}$-shaped frame whose body…

Microswimmers are exposed in nature to crowded environments and their transport properties depend in a subtle way on the interaction with obstacles. Here, we investigate a model for a single ideal circle swimmer exploring a two-dimensional…

Robotic locomotion often relies on sequenced gaits to efficiently convert control input into desired motion. Despite extensive studies on gait optimization, achieving smooth and efficient gait transitions remains challenging. In this paper,…

Fish-inspired aquatic robots are gaining increasing attention in marine robot communities due to their high swimming speeds and efficient propulsion enabled by flexible bodies that generate undulatory motions. To support the design…

We have developed a minimal model of a swimmer without body deformation based on force and torque dipoles which allows accurate 3D Navier-Stokes calculations. Our model can reproduce swimmer propulsion for a large range of Reynolds numbers,…

Active matter exhibits various forms of non-equilibrium states in the absence of external forcing, including macroscopic steady-state currents. Such states are often too complex to be modelled from first principles and our understanding of…

In this theoretical study, we present an analytical framework to investigate the slithering motion of snakes on flat surfaces. While previous studies have predominantly relied on numerical methods to identify optimal locomotion kinematics,…

Fish schools and bird flocks exhibit complex collective dynamics whose self-organization principles are largely unknown. The influence of hydrodynamics on such collectives has been relatively unexplored theoretically, in part due to the…

Both fluid and particle models are commonly used to simulate streamer discharges. In this paper, we quantitatively study the agreement between these approaches for axisymmetric and 3D simulations of positive streamers in air. We use a…

The ability of microswimmers to deploy optimal propulsion strategies is of paramount importance for their locomotory performance and survival at low Reynolds numbers. Although for perfectly spherical swimmers minimum dissipation requires a…

An axisymmetric squirmer in a Bingham viscoplastic fluid is studied numerically to determine the effect of a yield stress environment on locomotion. The nonlinearity of the governing equations necessitates numerical methods, which is…

We present and analyze a theoretical model for the dynamics and interactions of "capillary surfers," which are millimetric objects that self-propel while floating at the interface of a vibrating fluid bath. In our companion paper [1], we…

Recent advancements in soft actuators have enabled soft continuum swimming robots to achieve higher efficiency and more closely mimic the behaviors of real marine animals. However, optimizing the design and control of these soft continuum…

We combine a general formulation of microswimmmer equations of motion with a numerical bead-shell model to calculate the hydrodynamic interactions with the fluid, from which the swimming speed, power and efficiency are extracted. From this…

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'…

An approximation to the added mass matrix of an assembly of spheres is constructed on the basis of potential flow theory for situations where one sphere is much larger than the others. In the approximation the flow potential near a small…