Self-propelled particles move along circles rather than along a straight line when their driving force does not coincide with their propagation direction. Examples include confined bacteria and spermatozoa, catalytically driven nanorods, active, anisotropic colloidal particles and vibrated granulates. Using a non-Hamiltonian rate theory and computer simulations, we study the motion of a Brownian "circle swimmer" in a confining channel. A sliding mode close to the wall leads to a huge acceleration as compared to the bulk motion, which can further be enhanced by an optimal effective torque-to-force ratio.
The majority of studies on self-propelled particles and microswimmers concentrates on objects that do not feature a deterministic bending of their trajectory. However, perfect axial symmetry is hardly found in reality, and shape-asymmetric active microswimmers tend to show a persistent curvature of their trajectories. Consequently, we here present a particle-scale statistical approach of circle-swimmer suspensions in terms of a dynamical density functional theory. It is based on a minimal microswimmer model and, particularly, includes hydrodynamic interactions between the swimmers. After deriv…
Symmetries constrain dynamics. We test this fundamental physical principle, experimentally and by molecular dynamics simulations, for a hot Janus swimmer operating far from thermal equilibrium. Our results establish scalar and vectorial steady-state fluctuation theorems and a thermodynamic uncertainty relation that link the fluctuating particle current to its entropy production at an effective temperature. A Markovian minimal model elucidates the underlying non-equilbrium physics.
Chiral active particles, or self-propelled circle swimmers, from sperm cells to asymmetric Janus colloids, form a rich set of patterns, which are different from those seen in linear swimmers. Such patterns have mainly been explored for identical circle swimmers, while real-world circle swimmers, typically possess a frequency distribution. Here we show that even the simplest mixture of (velocity-aligning) circle swimmers with two different frequencies, hosts a complex world of superstructures: The most remarkable example comprises a microflock pattern, formed in one species, while the other spe…
We consider chirality in active systems by exemplarily studying the phase behavior of planar systems of interacting Brownian circle swimmers with a spherical shape. Continuing previous work presented in [G.-J. Liao, S. H. L. Klapp, Soft Matter, 2018, 14, 7873-7882], we derive a predictive field theory that is able to describe the collective dynamics of circle swimmers. The theory yields a mapping between circle swimmers and noncircling active Brownian particles and predicts that the angular propulsion of the particles leads to a suppression of their motility-induced phase separation, being in …
We perform Brownian dynamics simulations in two dimensions to study the collective behavior of circle swimmers, which are driven by both, an (effective) translational and rotational self-propulsion, and interact via steric repulsion. We find that active rotation generally opposes motility-induced clustering and phase separation, as demonstrated by a narrowing of the coexistence region upon increase of the propulsion angular velocity. Moreover, although the particles are intrinsically assigned to rotate counterclockwise, a novel state of clockwise vortices emerges at an optimal value of the eff…
Various microswimmers move along circles rather than straight lines due to their swimming mechanisms, body shapes or hydrodynamic effects. Here, we adopt the concepts of stochastic thermodynamics to analyze circle swimmers confined in a two-dimensional plane, and study the trade-off relations between various physical quantities such as precision, energy cost and rotational speed. Based on these findings, we predict principles and strategies for designing microswimmers of special optimized functions under limited energy resource conditions, which will bring new experimental inspiration for desi…
Swimming in circles occurs in a variety of situations at low Reynolds number. Here we propose a simple model for a swimmer that undergoes circular motion, generalising the model of a linear swimmer proposed by Najafi and Golestanian (Phys. Rev. E 69, 062901 (2004)). Our model consists of three solid spheres arranged in a triangular configuration, joined by two links of time-dependent length. For small strokes, we discuss the motion of the swimmer as a function of the separation angle between its links. We find that swimmers describe either clockwise or anticlockwise circular motion depending o…
Microswimmers exhibit noisy circular motion due to asymmetric propulsion mechanisms, their chiral body shape, or by hydrodynamic couplings in the vicinity of surfaces. Here, we employ the Brownian circle swimmer model and characterize theoretically the dynamics in terms of the directly measurable intermediate scattering function. We derive the associated Fokker-Planck equation for the conditional probabilities and provide an exact solution in terms of generalizations of the Mathieu functions. Different spatiotemporal regimes are identified reflecting the bare translational diffusion at large w…
We study the dynamics of a Brownian circle swimmer with a time-dependent self-propulsion velocity in an external temporally varying harmonic potential. For several situations, the noise-free swimming paths, the noise-averaged mean trajectories, and the mean square displacements are calculated analytically or by computer simulation. Based on our results, we discuss optimal swimming strategies in order to explore a maximum spatial range around the trap center. In particular, we find a resonance situation for the maximum escape distance as a function of the various frequencies in the system. More…
We consider the active Brownian particle (ABP) model for a two-dimensional microswimmer with fixed speed, whose direction of swimming changes according to a Brownian process. The probability density for the swimmer evolves according to a Fokker-Planck equation defined on the configuration space, whose structure depends on the swimmer's shape, center of rotation and domain of swimming. We enforce zero probability flux at the boundaries of configuration space. We derive a reduced equation for a swimmer in an infinite channel, in the limit of small rotational diffusivity, and find that the invari…
In addition to enabling movement towards environments with favourable living conditions, swimming by microorganisms has also been linked to enhanced mixing and improved nutrient uptake by their populations. Experimental studies have shown that Brownian tracer particles exhibit enhanced diffusion due to the swimmers, while theoretical models have linked this increase in diffusion to the flows generated by the swimming microorganisms, as well as collisions with the swimmers. In this study, we perform detailed simulations based on the force-coupling method and its recent extensions to the swimmin…
Free chiral self-propelled robots compared to active Brownian circle swimmers
Institut für Theoretische Physik, Universität Innsbruck（因斯布鲁克大学理论物理研究所）；The Raymond and Beverley School of Chemistry, Tel Aviv University（特拉维夫大学雷蒙德和贝弗利化学学院）
Chiral active particles (or self-propelled circle swimmers) feature a rich collective behavior, comprising rotating macro-clusters and micro-flock patterns which consist of phase-synchronized rotating clusters with a characteristic self-limited size. These patterns emerge from the competition of alignment interactions and rotations suggesting that they might occur generically in many chiral active matter systems. However, although excluded volume interactions occur naturally among typical circle swimmers, it is not yet clear if macro-clusters and micro-flock patterns survive their presence. Th…
A self-propelled artificial microswimmer is often modeled as a ballistic Brownian particle moving with constant speed aligned along one of its axis, but changing direction due to random collisions with the environment. Similarly to thermal noise, its angular randomization is described as a memoryless stochastic process. Here, we speculate that finite-time correlations in the orientational dynamics can affect the swimmer's diffusivity. To this purpose we propose and solve two alternative models. In the first one we simply assume that the environmental fluctuations governing the swimmer's propul…
We investigate the dynamics of a single chiral active particle subject to an external torque due to the presence of a gravitational field. Our computer simulations reveal an arbitrarily strong increase of the long-time diffusivity of the gravitactic agent when the external torque approaches the intrinsic angular drift. We provide analytic expressions for the mean-square displacement in terms of eigenfunctions and eigenvalues of the noisy-driven-pendulum problem. The pronounced maximum in the diffusivity is then rationalized by the vanishing of the lowest eigenvalues of the Fokker-Planck equati…
Recently, the Brownian dynamics of self-propelled (active) rod-like particles was explored to model the motion of colloidal microswimmers, catalytically-driven nanorods, and bacteria. Here, we generalize this description to biaxial particles with arbitrary shape and derive the corresponding Langevin equation for a self-propelled Brownian spinning top. The biaxial swimmer is exposed to a hydrodynamic Stokes friction force at low Reynolds numbers, to fluctuating random forces and torques as well as to an external and an internal (effective) force and torque. The latter quantities control its sel…
Understanding the stochastic dynamics of tracer particles in active fluids is important for identifying the physical properties of flow generating objects such as colloids, bacteria or algae. Here, we study both analytically and numerically the scattering of a tracer particle in different types of time-dependent, hydrodynamic flow fields. Specifically, we compare the tracer motion induced by an externally driven colloid with the one generated by various self-motile, multi-sphere swimmers. Our results suggest that force-free swimmers generically induce loop-shaped tracer trajectories. The speci…
Contrary to microbial taxis, where a tactic response to external stimuli is controlled by complex chemical pathways acting like sensor-actuator loops, taxis of artificial microswimmers is a purely stochastic effect associated with a non-uniform activation of the particles' self-propulsion. We study the tactic response of such swimmers in a spatio-temporally modulated activating medium by means of both numerical and analytical techniques. In the opposite limits of very fast and very slow rotational particle dynamics, we obtain analytic approximations that closely reproduce the numerical descrip…
The dynamics of self-locomotion of active particles in aligned or liquid crystalline fluids strongly deviates from that in simple isotropic media. We explore the long-time dynamics of a swimmer moving in a three-dimensional smectic liquid crystal and find that the mean-square displacement (MSD) transverse to the director exhibits a distinct logarithmic tail at long times. The scaling is distinctly different from that in an isotropic or nematic fluid and hints at the subtle but important role of the director fluctuation spectrum in governing the long-time motility of active particles. Our findi…
Hot microswimmers are self-propelled Brownian particles that exploit local heating for their directed self-thermophoretic motion. We provide a pedagogical overview of the key physical mechanisms underlying this promising new technology. It covers the hydrodynamics of swimming, thermophoresis and -osmosis, hot Brownian motion, force-free steering, and dedicated experimental and simulation tools to analyze hot Brownian swimmers.
Using molecular dynamics simulations we compare the motion of a nano-swimmer based on Purcell suggested motor with a time asymmetrical cycle with the motion of the same molecular motor with a time symmetrical cycle. We show that Purcell theorem still holds at the nanoscale, despite the local structure and the medium fluctuations. Then, with the purpose of both orienting the swimmer displacement and increasing the breakdown of the theorem, we study the effect of an electric field on a polarized version of these swimmers. For small and large fields, the time asymmetrical swimmer is more efficien…
We consider two systems of active swimmers moving close to a solid surface, one being a living population of wild-type \textit{E. coli} and the other being an assembly of self-propelled Au-Pt rods. In both situations, we have identified two different types of motion at the surface and evaluated the fraction of the population that displayed ballistic trajectories (active swimmers) with respect to those showing random-like behavior. We studied the effect of this complex swimming activity on the diffusivity of passive tracers also present at the surface. We found that the tracer diffusivity is en…
Swimming microorganisms can influence the diffusion of passive particles. The effect of this swimmer-particle interaction depends on different properties, such as the hydrodynamic field of the swimmer and the relative sizes of microorganisms and particles. We investigated an enhancement of the diffusion of silica doublets in a suspension of microalgae Chlamydomonas reinhardtii in a flat capillary. Depending on the concentration of microswimmers, the translational and rotational diffusion constants increase by several orders of magnitude in the presence of the swimming algae. For low concentrat…
Active Brownian particles are capable of taking up energy from their environment and converting it into directed motion; examples range from chemotactic cells and bacteria to artificial micro-swimmers. We have recently demonstrated that Janus particles, i.e. gold-capped colloidal spheres, suspended in a critical binary liquid mixture perform active Brownian motion when illuminated by light. In this article, we investigate in some more details their swimming mechanism leading to active Brownian motion. We show that the illumination-borne heating induces a local asymmetric demixing of the binary…
Collective states of inanimate particles self-assemble through physical interactions and thermal motion. Despite some phenomenological resemblance, including signatures of criticality, the autonomous dynamics that binds motile agents into flocks, herds, or swarms allows for much richer behavior. Low-dimensional models have hinted at the crucial role played in this respect by perceived information, decision-making, and feedback implying that the corresponding interactions are inevitably retarded. Here we present experiments on spherical Brownian microswimmers with delayed self-propulsion toward…
Micro- and nano-swimmers moving in a fluid solvent confined by structures that produce entropic barriers are often described by overdamped active Brownian particle dynamics, where viscous effects are large and inertia plays no role. However, inertial effects should be considered for confined swimmers moving in media where viscous effects are no longer dominant. Here, we study how inertia affects the rectification and diffusion of self-propelled particles in a two-dimensional asymmetric channel. We show that most of the particles accumulate at the channel walls as the masses of the particles in…
Active Brownian particles display self-propelled movement, which can be modelled as arising from a one-body force. Although their interparticle interactions are purely repulsive, for strong self propulsion the swimmers phase separate into dilute and dense phases. We describe in detail a recent theory (Phys. Rev. E 100, 052604 (2019); Phys. Rev. Lett. 128, 26802 (2019)) for such motility induced phase-separation. Starting from the continuity equation and the force density balance, the description is based on four superadiabatic contributions to the internal force density. Here the superadiabati…
The active Brownian particle (ABP) model describes a swimmer, synthetic or living, whose direction of swimming is a Brownian motion. The swimming is due to a propulsion force, and the fluctuations are typically thermal in origin. We present a 2D model where the fluctuations arise from nonthermal noise in a propelling force acting at a single point, such as that due to a flagellum. We take the overdamped limit and find several modifications to the traditional ABP model. Since the fluctuating force causes a fluctuating torque, the diffusion tensor describing the process has a coupling between tr…
Experiments have recently shown the feasibility of utilising bacteria as micro-scale robotic devices, with special attention paid to the development of bacteria-driven micro-swimmers taking advantage of built-in actuation and sensing mechanisms of cells. Here we propose a stochastic fluid dynamic model to describe analytically and computationally the dynamics of microscopic particles driven by the motion of surface-attached bacteria undergoing run-and-tumble motion. We compute analytical expressions for the rotational diffusion coefficient, the swimming speed and the effective diffusion coeffi…
We generalize the Vicsek model to describe the collective behaviour of polar circle swimmers with local alignment interactions. While the phase transition leading to collective motion in 2D (flocking) occurs at the same interaction to noise ratio as for linear swimmers, as we show, circular motion enhances the polarization in the ordered phase (enhanced flocking) and induces secondary instabilities leading to structure formation. Slow rotations result in phase separation whereas fast rotations generate patterns which consist of phase synchronized microflocks of controllable self-limited size. …
We review recent advances in rectification control of artificial microswimmers, also known as Janus particles, diffusing along narrow, periodically corrugated channels. The swimmer self-propulsion mechanism is modeled so as to incorporate a nonzero torque (propulsion chirality). We first summarize the effects of chirality on the autonomous current of microswimmers freely diffusing in channels of different geometries. In particular, left-right and upside-down asymmetric channels are shown to exhibit different transport properties. We then report new results on the dependence of the diffusivity …
Magnetotactic swimmers tend to align along magnetic field lines against stochastic reorientations. We show that the swimming strategy, e.g. active Brownian motion versus run-and-tumble dynamics, strongly affects the orientation statistics. The latter can exhibit a velocity condensation whereby the alignment probability density diverges. As a consequence, we find that the swimming strategy affects the nature of the phase transition to collective motion, indicating that Lévy run-and-tumble walks can outperform active Brownian processes as strategies to trigger collective behavior.
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 and thereby the active Brownian motion model is generalized to non-inertial frames. First, analytical solutions are presented for the overdamped case, both for linear swimmers and circle swimmers. For a frame rotating with constant angular velocity ("carousel"), the resulting noise-free trajectories in the static laboratory frame trochoids if these are circ…
Most classical work on the hydrodynamics of low-Reynolds-number swimming addresses deterministic locomotion in quiescent environments. Thermal fluctuations in fluids are known to lead to a Brownian loss of the swimming direction. As most cells or synthetic swimmers are immersed in external flows, we consider theoretically in this paper the stochastic dynamics of a model active particle (a self-propelled sphere) in a steady general linear flow. The stochasticity arises both from translational diffusion in physical space, and from a combination of rotary diffusion and run-and-tumble dynamics in …
Microswimmers typically operate in complex environments. In biological systems, often diverse species are simultaneously present and interact with each other. Here, we derive a (time-dependent) particle-scale statistical description, namely a dynamical density functional theory, for such multi-species systems, extending existing works on one-component microswimmer suspensions. In particular, our theory incorporates the effect of external potentials, but also steric and hydrodynamic interactions between swimmers. For the latter, a previously introduced force-dipole-based minimal (pusher or pull…
Beyond the Markovian limit: Exact solutions for active motion in a power-law viscoelastic bath
Wenzhou Institute of the University of Chinese Academy of Sciences（中国科学院大学温州研究院）；School of Physical Sciences, University of Chinese Academy of Sciences（中国科学院大学物理科学学院）；Departament de Física de la Matèria Condensada, Universitat de Barcelona（巴塞罗那大学凝聚态物理学系）；Chinese Academy of Sciences Key Laboratory of Soft Matter Physics, Institute of Physics, Chinese Academy of Sciences（中国科学院物理研究所软物质物理重点实验室）；UBICS University of Barcelona Institute of Complex Systems（巴塞罗那大学复杂系统研究所）
The self-propulsion of artificial and biological microswimmers (i.e., active colloidal particles) has often been modelled by using a force and a torque entering into the overdamped equations for the Brownian motion of passive particles. This seemingly contradicts the fact that a swimmer is force-free and torque-free, i.e., that the net force and torque on the particle vanish. Using different models for mechanical and diffusiophoretic self-propulsion, we demonstrate here that the equations of motion of microswimmers can be mapped onto those of passive particles with the shape-dependent grand re…
We examine the motion of a probe particle driven through a chiral fluid composed of circularly swimming disks. We find that the probe particle travels in both the longitudinal direction, parallel to the driving force, and in the transverse direction, perpendicular to the driving force, giving rise to a Hall angle. Under constant driving force, we show that the probe particle velocity in both the longitudinal and transverse directions exhibits nonmonotonic behavior as a function of the activity of the circle swimmers. The Hall angle is maximized when a resonance occurs between the frequency of …
Oscillatory Active Brownian Motion: A Minimal Model for Sperm Dynamics
School of Biomedical and Chemical Engineering, Colorado State University（科罗拉多州立大学生物医学与化学工程学院）；Instituto de Biología y Medicina Experimental (IBYME-CONICET)（实验生物学与医学研究所 (IBYME-CONICET)）
Brownian motion of free particles on curved surfaces is studied by means of the Langevin equation written in Riemann normal coordinates. In the diffusive regime we find the same physical behavior as the one described by the diffusion equation on curved manifolds [J. Stat. Mech. (2010) P08006]. Therefore, we use the latter in order to analytically investigate the whole diffusive dynamics in compact geometries, namely, the circle and the sphere. Our findings are corroborated by means of Brownian dynamics computer simulations based on a heuristic adaptation of the Ermak-McCammon algorithm to the …
One of the most intriguing phenomena in active matter has been the gas-liquid like motility induced phase separation (MIPS) observed in repulsive active particles. However, experimentally no particle can be a perfect sphere, and the asymmetric shape, mass distribution or catalysis coating can induce an active torque on the particle, which makes it a chiral active particle. Here using computer simulations and dynamic mean-field theory, we demonstrate that the large enough torque of circle active Brownian particles (cABPs) in two dimensions generates a dynamical clustering state interrupting the…
Suspensions of self-propelled bodies generate a unique mechanical stress owing to their motility that impacts their large-scale collective behavior. For microswimmers suspended in a fluid with negligible particle inertia, we have shown that the virial `swim stress' is a useful quantity to understand the rheology and nonequilibrium behaviors of active soft matter systems. For larger self-propelled organisms like fish, it is unclear how particle inertia impacts their stress generation and collective movement. Here, we analyze the effects of finite particle inertia on the mechanical pressure (or …
The concept of swim pressure quantifies the average force exerted by microswimmers on confining walls in non-equilibrium. Here we explore how the swim pressure depends on the wall curvature and on the presence of sharp corners in the wall. For active Brownian particles at high dilution, we present a coherent framework which describes the force and torque on passive particles of arbitrary shape, in the limit of large particles compared to the persistence length of the swimmer trajectories. The resulting forces can be used to derive, for example, the activity-induced depletion interaction betwee…
Typically, in the description of active Brownian particles, a constant effective propulsion force is assumed, which is then subjected to fluctuations in orientation and translation leading to a persistent random walk with an enlarged long-time diffusion coefficient. Here, we generalize previous results for the swimming path statistics to a time-dependent and thus in many situations more realistic propulsion which is a prescribed input. We analytically calculate both the noise-free and the noise-averaged trajectories for time-periodic propulsion under the action of an additional torque. In the …
In order to asses the effect of hydrodynamics in the assembly of active attractive spheres, we simulate a semi-dilute suspension of attractive self-propelled spherical particles in a quasi two dimensional geometry comparing the case with and without hydrodynamics interactions. To start with, independently on the presence of hydrodynamics, we observe that depending on the ratio between attraction and propulsion, particles either coarsen or aggregate forming finite-size clusters. Focusing on the clustering regime, we characterize two different clusters parameters, i.e. their morphology and orien…
Self-propelled Brownian particles show rich out-of-equilibrium physics, for instance, the motility-induced phase separation (MIPS). While decades of studying the structure of liquids have established a deep understanding of passive systems, not much is known about correlations in active suspensions. In this work we derive an approximate analytic theory for three-body correlations and forces in systems of active Brownian disks starting from the many-body Smoluchowski equation. We use our theory to predict the conditional forces that act on a tagged particle and their dependence on the propulsio…
