相关论文: Optimal Gaits for Drag-dominated Swimmers with Pas…

Variable impedance control is advantageous for physical human-robot interaction to improve safety, adaptability and many other aspects. This paper presents a gain-scheduled variable stiffness control approach under strict frequency-domain…

Thermal ratchets can extract useful work from random fluctuations. This is common in the molecular scale, such as motor proteins, and has also been used to achieve directional transport in microfluidic devices. In this work, we use the…

The dynamics of a triangular magnetocapillary swimmer is studied using the lattice Boltzmann method. Performing extensive numerical simulations taking into account the coupled dynamics of the fluid-fluid interface and of magnetic particles…

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…

We study dynamic network flows with uncertain input data under a robust optimization perspective. In the dynamic maximum flow problem, the goal is to maximize the flow reaching the sink within a given time horizon $T$, while flow requires a…

We present dynamic density functional theory (DDFT) incorporating general inhomogeneous, incompressible, time dependent background flows and inertia, describing externally driven passive colloidal systems out of equilibrium. We start by…

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…

Two-dimensional active nematics are often modeled using phenomenological continuum theories that describe the dynamics of the nematic director and fluid velocity through partial differential equations (PDEs). While these models provide a…

The robotic locomotion community is interested in optimal gaits for control. Based on the optimization criterion, however, there could be a number of possible optimal gaits. For example, the optimal gait for maximizing displacement with…

We investigate the dynamics of a massive tracer particle coupled to an interacting active bath, modeled as a harmonic chain of overdamped active particles analytically, with an aim to understand the impact of bath interactions and activity…

This paper addresses the physical mechanism of intermittent swimming by considering the burst-and-coast regime of fish swimming at different speeds. The burst-and-coast regime consists of a cycle with two successive phases: a phase of…

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,…

The passive rotation of rigid helical filaments is the propulsion strategy used by flagellated bacteria and some artificial microswimmers to navigate at low Reynolds numbers. In a classical 1976 paper, Lighthill calculated the `optimal'…

Understanding the complex patterns in space-time exhibited by active systems has been the subject of much interest in recent times. Complementing this forward problem is the inverse problem of controlling active matter. Here we use optimal…

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…

We present a novel framework for rigid body dynamics in ambient media, such as air or water, enabling accurate motion prediction of objects without requiring computational fluid dynamics simulations. Our method computes the added mass of…

We present a novel approach to define the filter and relax steps in the evolve-filter-relax (EFR) framework for simulating turbulent flows. The EFR main advantages are its ease of implementation and computational efficiency. However, as it…

Soft robots offer a frontier in robotics with enormous potential for safe human-robot interaction and agility in uncertain environments. A stepping stone towards unlocking their potential is a control theory tailored to soft robotics,…

Online approximation of the optimal station keeping strategy for a fully actuated six degrees-of-freedom marine craft subject to an irrotational ocean current is considered. An approximate solution to the optimal control problem is obtained…

We propose a strategy for optimizing a sensor trajectory in order to estimate the time dependence of a localized scalar source in turbulent channel flow. The approach leverages the view of the adjoint scalar field as the sensitivity of…