相关论文: Tuning upstream swimming of micro-robots by shape …

Torque-driven microscale swimming robots, or microrotors, hold significant potential in biomedical applications such as targeted drug delivery, minimally invasive surgery, and micromanipulation. This paper addresses the challenge of…

Smart active particles can acquire some limited knowledge of the fluid environment from simple mechanical cues and exert a control on their preferred steering direction. Their goal is to learn the best way to navigate by exploiting the…

The ability to propel against flows, i.e., to perform positive rheotaxis, can provide exciting opportunities for applications in targeted therapeutics and non-invasive surgery. To date, no biocompatible technologies exist for navigating…

Micro robotics is quickly emerging to be a promising technological solution to many medical treatments with focus on targeted drug delivery. They are effective when working in swarms whose individual control is mostly infeasible owing to…

With the continuing rapid development of artificial microrobots and active particles, questions of microswimmer guidance and control are becoming ever more relevant and prevalent. In both the applications and theoretical study of such…

Objects moving in fluids experience patterns of stress on their surfaces determined by their motion and the geometry of nearby boundaries. Fish and underwater robots can use these patterns for navigation. This paper extends this…

Navigating in a fluid flow while being carried by it, using only information accessible from on-board sensors, is a problem commonly faced by small planktonic organisms. It is also directly relevant to autonomous robots deployed in the…

Navigation in turbulent environments is a fundamental challenge for biological and artificial microswimmers. While most existing studies focus on adapting motility or steering, the role of active morphological changes in navigation remains…

We explore the behavior of micron-scale autophoretic Janus (Au/Pt) rods, having various Au/Pt length ratios, swimming near a wall in an imposed background flow. We find that their ability to robustly orient and move upstream, i.e. to…

Motile microorganisms develop effective swimming gaits to adapt to complex biological environments. Translating this adaptability to smart microrobots presents significant challenges in motion planning and stroke design. In this work, we…

Biological microswimmers are known to navigate upstream of an external flow (positive rheotaxis) in trajectories ranging from linear, spiral to oscillatory. Such rheotaxis stems from the interplay between the motion and complex shapes of…

Marine microorganisms must cope with complex flow patterns and even turbulence as they navigate the ocean. To survive they must avoid predation and find efficient energy sources. A major difficulty in analysing possible survival strategies…

Contrasting the well explored problem on how to steer a macroscopic agent like an airplane or a moon lander to optimally reach a target, "optimal microswimming", i.e. the quest for the optimal navigation strategy for microswimmers, remains…

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…

Efficient point-to-point navigation in the presence of a background flow field is important for robotic applications such as ocean surveying. In such applications, robots may only have knowledge of their immediate surroundings or be faced…

This work aims at finding optimal navigation policies for thin, deformable microswimmers that progress in a viscous fluid by propagating a sinusoidal undulation along their slender body. These active filaments are embedded in a prescribed,…

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…

Depending on multiple parameters, soft robots can exhibit different modes of locomotion that are difficult to model numerically. As a result, improving their performance is complex, especially in small-scale systems characterized by low…

Fish swim by undulating their bodies. These propulsive motions require coordinated shape changes of a body that interacts with its fluid environment, but the specific shape coordination that leads to robust turning and swimming motions…

Microorganisms have evolved diverse strategies to propel in viscous fluids, navigate complex environments, and exhibit taxis in response to stimuli. This has inspired the development of synthetic microrobots, where machine learning (ML) is…