相关论文: Optimal Actuation of Flagellar Magnetic Micro-Swim…

Surface interactions provide a class of mechanisms which can be employed for propulsion of micro- and nanometer sized particles. We investigate the related efficiency of externally and self-propelled swimmers. A general scaling relation is…

Micro-scale swimming robots have been envisaged for many medical applications such as targeted drug delivery, where the microrobot will be expected to navigate in a fluid through channels carrying a payload. Alternatively, in many cases,…

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…

Micro-organisms propel themselves in viscous environments by the periodic, nonreciprocal beating of slender appendages known as flagella. Active materials have been widely exploited to mimic this form of locomotion. However, the realization…

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…

Self-propulsion of cellular microswimmers generates flow signatures, commonly classified as pusher- and puller-type, which characterize hydrodynamic interactions with other cells or boundaries. Using experimentally measured beat patterns,…

Fishes, cetaceans, and many other aquatic vertebrates undulate their bodies to propel themselves through water. Swimming requires an intricate interplay between sensing the environment, making decisions, controlling internal dynamics, and…

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…

The self-propelled motion of microscopic bodies immersed in a fluid medium is studied using molecular dynamics simulation. The advantage of the atomistic approach is that the detailed level of description allows complete freedom in…

In this paper we address the question of the optimal design for the Purcell 3-link swim-mer. More precisely we investigate the best link length ratio which maximizes its displace-ment. The dynamics of the swimmer is expressed as an ODE,…

Optimal gait design is important for micro-organisms and micro-robots that propel themselves in a fluid environment in the absence of external force or torque. The simplest models of shape changes are those that comprise a series of…

In this paper we study a mathematical model of one-dimensional swimmers performing a planar motion while fully immersed in a viscous fluid. The swimmers are assumed to be of small size, and all inertial effects are neglected. Hydrodynamic…

We design new navigation strategies for travel time optimization of microscopic self-propelled particles in complex and noisy environments. In contrast to strategies relying on the results of optimal control theory, these protocols allow…

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…

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…

Spermatozoa self-propel by propagating bending waves along a predominantly active elastic flagellum. The organized structure of the "9 + 2" axoneme is lost in the most-distal few microns of the flagellum, and therefore this region is…

We study the energetic efficiency of navigating microswimmers by explicitly taking into account the geometry of their body. We show that, as their shape transitions from prolate to oblate, non-steering microswimmers rotated by flow…

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…

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…

Elongate animals and robots use undulatory body waves to locomote through diverse environments. Geometric mechanics provides a framework to model and optimize such systems in highly damped environments, connecting a prescribed shape change…