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

Suspensions of unicellular microswimmers such as flagellated bacteria or motile algae exhibit spontaneous density heterogeneities at large enough concentrations. Based on the relative location of the biological actuation appendages i.e.…

Cells swimming in viscous fluids create flow fields which influence the transport of relevant nutrients, and therefore their feeding rate. We propose a modeling approach to the problem of optimal feeding at zero Reynolds number. We consider…

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…

Traditional locomotion strategies become ineffective at low Reynolds numbers, where viscous forces predominate over inertial forces. To adapt, microorganisms have evolved specialized structures like cilia and flagella for efficient…

Using multiparticle collision dynamics simulations, we investigate the swimming dynamics, orientational behavior, and hydrodynamic interactions of a model swimmer designed to mimic the isolated flagellar apparatus ($FA$) of Chlamydomonas…

By numerical modeling we investigate fluid transport in low-Reynolds-number flow achieved with a special elastic filament or artifical cilium attached to a planar surface. The filament is made of superparamagnetic particles linked together…

In nature, metachronal coordination is an efficient strategy for fluid pumping and self-propulsion. Yet, mimetic systems for this type of organization are scarce. Recently, metachronal motion was observed in a bead-based magnetocapillary…

Micron-scale swimmers move in the realm of negligible inertia, dominated by viscous drag forces. In this paper, we formulate the leading-order dynamics of a slender multi-link (N-link) microswimmer assuming small-amplitude undulations about…

Many microswimmers are able to swim through viscous fluids by employing periodic non-reciprocal deformations of their appendages. Here we use a simple microswimmer model inspired by swimming biflagellates which consists of a spherical cell…

The quest for the optimal navigation strategy in a complex environment is at the heart of microswimmer applications like cargo carriage or drug targeting to cancer cells. Here, we formulate a variational Fermat's principle for microswimmers…

Various microswimmers move along circles rather than straight lines due to their swimming mechanisms, body shapes or hydrodynamic effects. Here, we adopt the concepts of stochastic thermodynamics to analyze circle swimmers confined in a…

We study the three-dimensional dynamics of a spherical microswimmer in cylindrical Poiseuille flow which can be mapped onto a Hamiltonian system. Swinging and tumbling trajectories are identified. In 2D they are equivalent to oscillating…

Through billions of years of evolution, microorganisms mastered unique swimming behaviors to thrive in complex fluid environments. Limitations in nanofabrication have thus far hindered the ability to design and program synthetic swimmers…

A growing body of work aims at designing and testing micron-scale synthetic swimmers. One method, inspired by the locomotion of flagellated bacteria, consists of applying a rotating magnetic field to a rigid, helically-shaped, propeller…

In narrow, unstructured underwater environments such as environmental monitoring and minimally invasive medical procedures, micro soft robots exhibit unique advantages due to their flexible movement capabilities and small size. At the same…

The controllability of a fully three-dimensional $N$-link swimmer is studied. After deriving the equations of motion in a low Reynolds number fluid by means of Resistive Force Theory, the controllability of the minimal $2$-link swimmer is…

In this paper, we propose a novel approach for controlling surface water waves and their interaction with floating bodies. We consider a floating target rigid body surrounded by a control region where we design three control strategies of…

Small objects can swim by generating around them fields or gradients which in turn induce fluid motion past their surface by phoretic surface effects. We quantify for arbitrary swimmer shapes and surface patterns, how efficient swimming…

Endovascular technique has many advantages but relies strongly on operator skills and experience. Robotically steerable catheters have been developed but few are clinically available. We describe here the development of an active and…

We present an efficient algorithm for motion planning and control of a robot system with a high number of degrees-of-freedom. These include high-DOF soft robots or an articulated robot interacting with a deformable environment. Our approach…