B. U. Felderhof
The swimming of a sphere by means of radial helical surface waves is studied on the basis of the Stokes equations. Explicit expressions are derived for the matrices characterizing the mean translational and rotational swimming velocities and the mean rate of dissipation to second order in the wave amplitude.
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Explicit expressions are derived for the matrices determining the mean translational and rotational swimming velocities and the mean rate of dissipation for Stokesian swimming at low Reynolds number of a distorting sphere in a viscous incompressible fluid. As an application an efficient helical propeller-type stroke is found and its properties are calculated.
The swimming of a spheroid immersed in a viscous fluid and performing surface deformations periodically in time is studied on the basis of Stokes equations of low Reynolds number hydrodynamics. The average over a period of time of the swimming velocity and the rate of dissipation are given by integral expressions of second order in the amplitude of surface deformations. The first order flow velocity and pressure, as functions of spheroidal coordinates, are expressed as sums of basic solutions of Stokes equations. Sets of superposition coefficients of these solutions which optimize the mean swi…
The net steady state flow pattern of a distorting sphere is studied in the framework of the bilinear theory of swimming at low Reynolds number. It is argued that the starting point of a theory of interacting active particles should be based on such a calculation, since any arbitrarily chosen steady state flow pattern is not necessarily the result of a swimming motion. Furthermore, it is stressed that as a rule the phase of stroke is relevant in hydrodynamic interactions, so that the net flow pattern must be used with caution.
The swimming of a sphere by means of tangential helical waves running along its surface is studied on the basis of the Stokes equations. Two types of tangential waves are found. The first of these is associated with a pressure disturbance and leads to a higher rate of net rotation than the second one for the same power. It is suggested that the helical waves are relevant for the rotational swimming of Volvox.
We conduct experiments with force-free magnetically-driven rigid helical swimmers in Newtonian and viscoelastic (Boger) fluids. By varying the sizes of the swimmer body and its helical tail, we show that the impact of viscoelasticity strongly depends on the swimmer geometry: it can lead to a significant increase of the swimming speed (up to a factor of five), a similar decrease (also up to a factor of five) or it can have approximately no impact. Analysis of our data along with theoretical modeling shows that the influence of viscoelasticity on helical propulsion is controlled by a snowman-lik…
Non-Stokesian dynamics of magnetic helical nanoswimmers under confinement
本文通过 lattice-Boltzmann 模拟研究磁性螺旋纳米游泳者在受限空间中的推进机制，提出无界与受限速度预测关系，并揭示高频或强受限下的非 Stokes 非线性行为。
We study the microscale propulsion of a rotating helical filament confined by a cylindrical tube, using a boundary-element method for Stokes flow that accounts for helical symmetry. We determine the effect of confinement on swimming speed and power consumption. Except for a small range of tube radii at the tightest confinements, the swimming speed at fixed rotation rate increases monotonically as the confinement becomes tighter. At fixed torque, the swimming speed and power consumption depend only on the geometry of the filament centerline, except at the smallest pitch angles for which the fil…
The motion of a rotating helical body in a viscoelastic fluid is considered. In the case of force-free swimming, the introduction of viscoelasticity can either enhance or retard the swimming speed and locomotive efficiency, depending on the body geometry, fluid properties, and the body rotation rate. Numerical solutions of the Oldroyd-B equations show how previous theoretical predictions break down with increasing helical radius or with decreasing filament thickness. Helices of large pitch angle show an increase in swimming speed to a local maximum at a Deborah number of order unity. The numer…
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…
We investigate 3-dimensional flagellar swimming in a fluid with a sparse network of stationary obstacles or fibers. The Brinkman equation is used to model the average fluid flow where a flow-dependent term, including a resistance parameter that is inversely proportional to the permeability, models the resistive effects of the fibers on the fluid. To solve for the local linear and angular velocities that are coupled to the flagellar motion, we extend the method of regularized Brinkmanlets to incorporate a Kirchhoff rod, discretized as point forces and torques along a centerline. Representing a …
We apply the boundary-element method to Stokes flows with helical symmetry, such as the flow driven by an immersed rotating helical flagellum. We show that the two-dimensional boundary integral method can be reduced to one dimension using the helical symmetry. The computational cost is thus much reduced while spatial resolution is maintained. We review the robustness of this method by comparing the simulation results with the experimental measurement of the motility of model helical flagella of various ratios of pitch to radius, along with predictions from resistive-force theory and slender-bo…
We investigate the effects of helical swimmer shape (i.e., helical pitch angle and tail thickness) on swimming dynamics in a constant viscosity viscoelastic (Boger) fluid via a combination of particle tracking velocimetry, particle image velocimetry and 3D simulations of the FENE-P model. The 3D printed helical swimmer is actuated in a magnetic field using a custom-built rotating Helmholtz coil. Our results indicate that increasing the swimmer tail thickness and pitch angle enhances the normalized swimming speed (i.e., ratio of swimming speed in the Boger fluid to that of the Newtonian fluid).…
The flexibility of the bacterial flagellar hook is believed to have substantial consequences for microorganism locomotion. Using a simplified model of a rigid flagellum and a flexible hook, we show that the paths of axisymmetric cell bodies driven by a single flagellum in Stokes flow are generically helical. Phase-averaged resistance and mobility tensors are produced to describe the flagellar hydrodynamics, and a helical rod model which retains a coupling between translation and rotation is identified as a distinguished asymptotic limit. A supercritical Hopf bifurcation in the flagellar orient…
Helical locomotion in dilute suspensions
为理解介质异质性对鞭毛细菌游动的影响，本研究通过实验和理论分析刚性螺旋在稀释悬浮液中的运动，发现颗粒浓度提升推进效率，开发理论方法解释机制，验证人工游泳者速度增超60%，为生物医学人工装置设计提供参考。
Many microorganisms and artificial microswimmers use helical appendages in order to generate locomotion. Though often rotated so as to produce thrust, some species of bacteria such Spiroplasma, Rhodobacter sphaeroides and Spirochetes induce movement by deforming a helical-shaped body. Recently, artificial devices have been created which also generate motion by deforming their helical body in a non-reciprocal way (Mourran et al., Adv. Mater., 29, 1604825, 2017). Inspired by these systems, we investigate the transport of a deforming helix within a viscous fluid. Specifically, we consider a swimm…
Motivated by bacterial transport through porous media, here we study the swimming of an actuated, flexible helical filament in both three-dimensional free space and within a cylindrical tube whose diameter is much smaller than the length of the helix. The filament, at rest, has a native helical shape modeled after the geometry of a typical bacterial flagellar bundle. The finite length filament is a free swimmer, and is driven by an applied torque as well as a counter-torque (of equal strength and opposite direction) that represents a virtual cell body. We use a regularized Stokeslet framework …
Swimming microorganisms often have to propel in complex, non-Newtonian fluids. We carry out experiments with self-propelling helical swimmers driven by an externally rotating magnetic field in shear-thinning, inelastic fluids. Similarly to swimming in a Newtonian fluid, we obtain for each fluid a locomotion speed which scales linearly with the rotation frequency of the swimmer, but with a prefactor which depends on the power index of the fluid. The fluid is seen to always increase the swimming speed of the helix, up to 50% faster and thus the strongest of such type reported to date. The maximu…
Artificial microswimmers, nano and microrobots, are essential in many applications from engineering to biology and medicine. We present a Stokesian Dynamics study of the dynamical properties and efficiency of one of the simplest artificial swimmer, the three linked spheres swimmer (TLS), extensively shown to be an excellent and model example of a deformable micromachine. Results for two different swimming strokes are compared with an approximate solution based on point force interactions. While this approximation accurately reproduces the solutions for swimmers with long arms and strokes of sm…
In addition to conventional planar and helical flagellar waves, insect sperm flagella have also been observed to display a double-wave structure characterized by the presence of two superimposed helical waves. In this paper, we present a hydrodynamic investigation of the locomotion of insect spermatozoa exhibiting the double-wave structure, idealized here as superhelical waves. Resolving the hydrodynamic interactions with a non-local slender body theory, we predict the swimming kinematics of these superhelical swimmers based on experimentally collected geometric and kinematic data. Our conside…
Improving Hydrodynamic Modeling of Free-Swimming Algae Using a Modified Three-Sphere Approach
改进三球模型以更准确模拟自由游动藻类的流体动力学行为
Flagellated bacteria exploiting helical propulsion are known to swim along circular trajectories near surfaces. Fluid dynamics predicts this circular motion to be clockwise (CW) above a rigid surface (when viewed from inside the fluid) and counter-clockwise (CCW) below a free surface. Recent experimental investigations showed that complex physicochemical processes at the nearby surface could lead to a change in the direction of rotation, both at solid surfaces absorbing slip-inducing polymers and interfaces covered with surfactants. Motivated by these results, we use a far-field hydrodynamic m…
The effect of axisymmetric confinement on propulsion of a three-sphere microswimmer
本研究采用三球微型游泳者模型，通过理论分析与有限元数值模拟，发现在毛细管轴对称限制下，当管径与球径比在 $\mathcal{O}(1)-\mathcal{O}(10)$ 范围时推进速度显著降低，揭示了限制下减弱的流体动力学相互作用对推进的阻碍作用。
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