Biological organisms swimming at low Reynolds number are often influenced by the presence of rigid boundaries and soft interfaces. In this paper we present an analysis of locomotion near a free surface with surface tension. Using a simplified two-dimensional singularity model, and combining a complex variable approach with conformal mapping techniques, we demonstrate that the deformation of a free surface can be harnessed to produce steady locomotion parallel to the interface. The crucial physical ingredient lies in the nonlinear hydrodynamic coupling between the disturbance flow created by the swimmer and the free boundary problem at the fluid surface.
Helical propulsion is used by many microorganisms to swim in viscous-dominated environments. Their swimming dynamics are relatively well understood, but detailed study of the flow fields and actuation mechanisms are still needed to realize wall effects and hydrodynamic interactions. In this letter, we describe the development of an autonomous swimming robot with a helical tail that operates in the Stokes regime. The device uses a battery-based power system with a miniature motor that imposes a rotational speed to a helical tail. The speed, direction, and activation are controlled electronicall…
Effect of swimming mode on shielding of odor traces in turbulence
Machine Learning Genoa Center (MaLGa) & Department of Civil, Chemical and Environmental Engineering, University of Genoa（热那亚大学机器学习和环境工程学院）；Gran Sasso Science Institute (GSSI)（格兰萨索科学研究所）；INFN–Laboratori Nazionali del Gran Sasso（意大利国家核物理研究所格兰萨索国家实验室）
At the millimeter scale and in the intermediate Reynolds number (Re) regime, the midge and mosquito larvae can reach swimming speeds of more than one body length per cycle performing a "figure-of-8" gait, in which their elongated bodies periodically bend nearly into circles and then fully unfold. To elucidate the propulsion mechanism of this cycle of motion, we conducted a 3D numerical study which investigates the hydrodynamics of undergoing the prescribed kinematics. Novel propulsion mechanisms, such as modulating the body deformation rate to dynamically increase the maximum net propulsion fo…
A single flexible filament can be actuated to escape from the scallop theorem and generate net propulsion at low Reynolds number. In this work, we study the dynamics of a simple boundary-driven multi-filament swimmer, a two-arm clamshell actuated at the hinged point, using a nonlocal slender body approximation with full hydrodynamic interactions. We first consider an elastic clamshell consisted of flexible filaments with intrinsic curvature, and then build segmental models consisted of rigid segments connected by different mechanical joints with different forms of response torques. The simplic…
We illustrate a concept for shape-changing microswimmers, which exploits the hysteresis of a shape transition of an elastic object, by an elastic disk undergoing cyclic localized swelling. Driving the control parameter of a hysteretic shape transition in a completely time-reversible manner gives rise to a non-time-reversible shape sequence and a net swimming motion if the elastic object is immersed into a viscous fluid. We prove this concept with a microswimmer which is a flat circular elastic disk that undergoes a transition into a dome-like shape by localized swelling of an inner disk. The c…
We present a theory for the self-propulsion of symmetric, half spherical Marangoni boats (soap or camphor boats) at low Reynolds numbers. Propulsion is generated by release (diffusive emission or dissolution) of water-soluble surfactant molecules, which modulate the air-water interfacial tension. Propulsion either requires asymmetric release or spontaneous symmetry breaking by coupling to advection for a perfectly symmetrical swimmer. We study the diffusion-advection problem for a sphere in Stokes flow analytically and numerically both for constant concentration and constant flux boundary cond…
In Stokes flow, Purcell's scallop theorem forbids objects with time-reversible (reciprocal) swimming strokes from moving. In the presence of inertia, this restriction is eased and reciprocally deforming bodies can swim. A number of recent works have investigated dimer models that swim reciprocally at intermediate Reynolds numbers Re ~ 1-1000. These show interesting results (e.g. switches of the swim direction as a function of inertia) but the results vary and seem to be case-specific. Here, we introduce a general model and investigate the behaviour of an asymmetric spherical dimer of oscillati…
Metachronal swimming, the sequential beating of limbs with a small phase lag, is observed in many organisms at various scales, but has been studied mostly in the limits of high or low Reynolds numbers. Motivated by the swimming of brine shrimp, a mesoscale organism that operates at intermediate Reynolds numbers, we computationally studied a simple nonreciprocal 2D model that performs metachronal swimming. Our swimmer is composed of two pairs of paddles beating with a phase difference that are symmetrically attached to the sides of a flat body. We numerically solved the Navier-Stokes equations …
Unicellular microscopic organisms living in aqueous environments outnumber all other creatures on Earth. A large proportion of them are able to self-propel in fluids with a vast diversity of swimming gaits and motility patterns. In this paper we present a biophysical survey of the available experimental data produced to date on the characteristics of motile behaviour in unicellular microswimmers. We assemble from the available literature empirical data on the motility of four broad categories of organisms: bacteria (and archaea), flagellated eukaryotes, spermatozoa and ciliates. Whenever possi…
Seeing new depths: Three-dimensional flow of a free-swimming alga
University of Minnesota（明尼苏达大学）；National Institute for Mathematical Sciences（韩国数学科学研究所）；Chung-Ang University（中央大学）；University at Buffalo（布法罗纽约州立大学）；University of Cincinnati（辛辛那提大学）
We present a realization of a fast interfacial Marangoni microswimmer by a half-spherical alginate capsule at the air-water interface, which diffusively releases water-soluble spreading molecules (weak surfactants such as polyethylene glycol (PEG)), which act as "fuel" by modulating the air-water interfacial tension. For a number of different fuels, we can observe symmetry breaking and spontaneous propulsion although the alginate particle and emission are isotropic. The propulsion mechanism is similar to soap or camphor boats, which are, however, typically asymmetric in shape or emission to se…
Metachronal locomotion is a widespread swimming mode used by aquatic swarming organisms to achieve performance and maneuverability in the intermediate Reynolds number regime. Our understanding of the mechanisms driving these abilities is limited due to the challenges of studying live organisms. Designs inspired by nature present an approach for developing small and maneuverable underwater self-propelled robots. Here, we present the design, manufacture, and validation of the \emph{Pleobot} --a unique krill-inspired robotic swimming appendage constituting the first platform to study metachronal …
