相关论文: Surfing vortex rings for energy-efficient propulsi…
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…
There are numerous devices currently known with the purpose of reducing the irregularity of the flow upstream of the propeller and to decrease by that means the propeller-induced vibration and noise. Many of these devices are wing-shaped…
Miniature underwater robots play a crucial role in the exploration and development of marine resources, particularly in confined spaces and high-pressure deep-sea environments. This study presents the design, optimization, and performance…
Atomtronic quantum sensors based on trapped superfluids offer a promising platform for high-precision inertial measurements where the dynamics of quantized vortices can serve as sensitive probes of external forces. We analytically…
Typically the motion of self-propelled active particles is described in a quiescent environment establishing an inertial frame of reference. Here we assume that friction, self-propulsion and uctuations occur relative to a non-inertial frame…
We present simulations of the vortex dynamics associated with the self-propelled motion of jellyfish. The geometry is obtained from image segmentation of video recordings from live jellyfish. The numerical simulations are performed using…
We present an accurate Lagrangian method based on vortex particles, level-sets, and immersed boundary methods, for animating the interplay between two fluids and rigid solids. We show that a vortex method is a good choice for simulating…
Context. A universally accepted definition of what a vortex is has not yet been reached. Therefore, we lack an unambiguous and rigorous method for the identification of vortices in fluid flows. Such a method would be necessary to conduct…
This paper proposes a real-time approach for long-term inertial navigation based only on an Inertial Measurement Unit (IMU) for self-localizing wheeled robots. The approach builds upon two components: 1) a robust detector that uses…
We present a numerical study on clapping propulsion using a body consisting of two rigid plates hinged at one end, with a 60-degree interplate cavity. The closing of the cavity generates a thrust-producing jet. Our previous experimental…
This study employs high-fidelity fluid-structure interaction simulations to investigate design optimizations for wave-assisted propulsion (WAP) systems using flapping foils. Building on prior work that identified the leading-edge vortex…
This paper presents a learned model to predict the robot-centric velocity of an underwater robot through dynamics-aware proprioception. The method exploits a recurrent neural network using as inputs inertial cues, motor commands, and…
The Modboat is an autonomous surface robot that turns the oscillation of a single motor into a controlled paddling motion through passive flippers. Inertial control methods developed in prior work can successfully drive the Modboat along…
This paper presents a bio-inspired underwater whisker sensor for robust hydrodynamic disturbance detection and efficient signal analysis based on Physical Reservoir Computing (PRC). The design uses a tapered nylon spring with embedded…
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…
The interpretation of data obtained from particle image/tracking velocimetry in the study of superfluid flows has been so far a challenging task. Tracking particles (as solid hydrogen or deuterium) are attracted to the cores of quantized…
Miniature locomotion robots with the ability to navigate confined environments show great promise for a wide range of tasks, including search and rescue operations. Soft miniature locomotion robots, as a burgeoning field, have attracted…
Bubble-driven inertial pumps are a novel method of moving liquids through microchannels. We combine high-speed imaging, computational fluid dynamics (CFD) simulations and an effective one-dimensional model to study the fundamentals of…
A short, abrupt increase in energy injection rate into steady strongly-driven rotating turbulent flow is used as a probe for energy transfer in the system. The injected excessive energy is localized in time and space and its spectra differ…
Marine plankton are usually modeled as settling elongated micro-swimmers. For the first time, we consider the torque induced by fluid inertia on such swimmers, and we discover that they spontaneously swim in the direction opposite to…