相关论文: Emergent dynamics and spatiotemporal patterns in s…

Swarming behavior, where coherent motion emerges from the interactions of many mobile agents, is ubiquitous in physics and biology. Moreover, there are many efforts to replicate swarming dynamics in mobile robotic systems which take…

Ensembles of particles rotating in a two-dimensional fluid can exhibit chaotic dynamics yet develop signatures of hidden order. Such "rotors" are found in the natural world spanning vastly disparate length scales - from the rotor proteins…

While the collective motion of active particles has been studied extensively, effective strategies to navigate particle swarms without external guidance remain elusive. We introduce a method to control the trajectories of two-dimensional…

We study the problem of determining the emergent behaviors that are possible given a functionally heterogeneous swarm of robots with limited capabilities. Prior work has considered behavior search for homogeneous swarms and proposed the use…

Robotic swimmers are currently a subject of extensive research and development for several underwater applications. Clever design and planning must rely on simple theoretical models that account for the swimmer's hydrodynamics in order to…

Many microorganisms take a chiral path while swimming in an ambient uid. In this paper, we study the combined behavior of two chiral swimmers using the well-known squirmer model taking into account chiral asymmetries. In contrast to the…

Efficient locomotion is important for the evolution of complex life, yet the physical principles selecting specific swimming strokes often remain entangled with biological constraints. In viscous fluids, the scallop theorem constrains the…

Coordinating micro-robotic swarms in physiologically realistic, time-dependent fluid environments remains an unsolved challenge for biomedical and environmental applications. We present a hybrid Computational Fluid Dynamics -…

We present a hydrodynamic study of a monolayer of squirmer model microswimmers confined to a boundary by strong gravity using the simulation method of multi-particle collision dynamics. The squirmers interact with each other via their…

This paper introduces a simulation study of fluid actuated multi-driven closed system as spherical mobile robot called "RollRoller". Robot's mechanism design consists of two essential parts: tubes to lead a core and mechanical controlling…

The automatic design of robots has existed for 30 years but has been constricted by serial non-differentiable design evaluations, premature convergence to simple bodies or clumsy behaviors, and a lack of sim2real transfer to physical…

Swimming cells and microorganisms must often move though complex fluids that contain an immersed microstructure such as polymer molecules, or filaments. In many important biological processes, such as mammalian reproduction and bacterial…

We present a two dimensional model of hydrodynamic interaction between a circular swimmer and a circular post at low Reynolds number, using a point singularity description of the swimming activity. We derive a nonlinear dynamical system…

Artificial micro-swimmers actuated by external magnetic fields hold significant promise for targeted biomedical applications, including drug delivery and micro-robot-assisted therapy. However, their dynamics remain challenging to control…

We present a lattice Boltzmann study of the hydrodynamics of a fully resolved squirmer, radius R, confined in a slab of fluid between two no-slip walls. We show that the coupling between hydrodynamics and short-range repulsive interactions…

Suspensions of swimming micro-organisms are known to undergo intricate collective dynamics as a result of hydrodynamic and collision interactions. Micro-swimmers, such as bacteria and micro-algae, naturally live and have evolved in complex…

We present and analyze a theoretical model for the dynamics and interactions of "capillary surfers," which are millimetric objects that self-propel while floating at the interface of a vibrating fluid bath. In our companion paper [1], we…

We show that hydrodynamic theories of polar active matter generically possess inhomogeneous traveling solutions. We introduce a unifying dynamical-system framework to establish the shape of these intrinsically nonlinear patterns, and show…

Swimming micro-organisms such as bacteria or spermatozoa are typically found in dense suspensions, and exhibit collective modes of locomotion qualitatively different from that displayed by isolated cells. In the dilute limit where…

We present in this fluid dynamics video a novel experimental setup with self-propelled swimmers on a free surface. The swimmers, modeled as flexible thin filaments, are subjected to external electromagnetic forcing driving a propagating…