相关论文: Optimal Gaits for Drag-dominated Swimmers with Pas…
Fish typically swim by periodic bending of their bodies. Bending seems to follow a universal rule; it occurs at about one-third from the posterior end of the fish body with a maximum bending angle of about $30^o$. However, the hydrodynamic…
Swimming organisms can escape their predators by creating and harnessing unsteady flow fields through their body motions. Stochastic optimization and flow simulations have identified escape patterns that are consistent with those observed…
Matching the swimming efficiency and agility of fish has remained an elusive goal in underwater robotics. Such locomotion capabilities rely on complex vortex interactions between the robot's body and the surrounding fluid. However,…
We derive the long-time dynamics of a tracer immersed in a one-dimensional active bath. In contrast to previous studies, we find that the damping and noise correlations possess long-time tails with exponents that depend on the tracer…
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…
In this paper, we present a geometric variational algorithm for optimizing the gaits of kinematic locomoting systems. The dynamics of this algorithm are analogous to the physics of a soap bubble, with the system's Lie bracket supplying an…
Gait adaptation is an important part of gait analysis and its neuronal origin and dynamics has been studied extensively. In neurorehabilitation, it is important as it perturbs neuronal dynamics and allows patients to restore some of their…
The swimming of an assembly of rigid spheres immersed in a viscous fluid of infinite extent is studied in low Reynolds number hydrodynamics. The instantaneous swimming velocity and rate of dissipation are expressed in terms of the…
It is the aim of the paper to present a new point of view on rotational elasticity in a nonlinear setting using orthogonal matrices. The proposed model, in the linear approximation, can be compared to the well known equilibrium equations of…
Spring-based actuators in legged locomotion provide energy-efficiency and improved performance, but increase the difficulty of controller design. While previous work has focused on extensive modeling and simulation to find optimal…
Dynamical density functional theory (DDFT) has been successfully derived and applied to describe on the one hand passive colloidal suspensions, including hydrodynamic interactions between individual particles. On the other hand, active…
In this paper, we give formulas for the swimming of simplified two-dimensional bodies in complex fluids using the reciprocal theorem. By way of these formulas we calculate the swimming velocity due to small-amplitude deformations on the…
Active flow control for drag reduction with reinforcement learning (RL) is performed in the wake of a 2D square bluff body at laminar regimes with vortex shedding. Controllers parameterised by neural networks are trained to drive two…
This study explores the application of a wall-attached ferrofluid film to decrease skin friction drag in turbulent channel flow. We conduct experiments using water as a working fluid in a turbulent channel flow setup, where one wall is…
In this work, we propose the design of modulation schemes that improve the rate-energy region of fluid antenna-assisted simultaneous wireless information and power transfer (SWIPT) systems. By considering the nonlinear characteristics of…
Numerous mixing strategies in microfluidic devices rely on chaotic advection by time-dependent body forces. The question of determining the required forcing function to achieve optimal mixing at a given kinetic energy or power input remains…
This paper presents a gait optimization and motion planning framework for a class of locomoting systems with mixed kinematic and dynamic properties. Using Lagrangian reduction and differential geometry, we derive a general dynamic model…
Most aquatic vertebrates swim by lateral flapping of their bodies and caudal fins. While much effort has been devoted to understanding the flapping kinematics and its influence on the swimming efficiency, little is known about the stability…
A system of ferromagnetic particles trapped at a liquid-liquid interface and subjected to a set of magnetic fields (magnetocapillary swimmers) is studied numerically using a hybrid method combining the pseudopotential lattice Boltzmann…
Compliance in actuation has been exploited to generate highly dynamic maneuvers such as throwing that take advantage of the potential energy stored in joint springs. However, the energy storage and release could not be well-timed yet. On…