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-like effect, previously reported for dumbbell swimmers, wherein the front-back asymmetry of the swimmer leads to a non-Newtonian elastic force that can either favor or hinder locomotion.
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.
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.
Many microorganisms find themselves immersed in fluids displaying non-Newtonian rheological properties such as viscoelasticity and shear-thinning viscosity. The effects of viscoelasticity on swimming at low Reynolds numbers have already received considerable attention, but much less is known about swimming in shear-thinning fluids. A general understanding of the fundamental question of how shear-thinning rheology influences swimming still remains elusive. To probe this question further, we study a spherical squirmer in a shear-thinning fluid using a combination of asymptotic analysis and numer…
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 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 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 …
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…
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).…
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…
Swimming microorganisms often self propel in fluids with complex rheology. While past theoretical work indicates that fluid viscoelasticity should hinder their locomotion, recent experiments on waving swimmers suggest a possible non-Newtonian enhancement of locomotion. We suggest a physical mechanism, based on fluid-structure interaction, leading to swimming in a viscoelastic fluid at a higher speed than in a Newtonian one. Using Taylor's two-dimensional swimming sheet model, we solve for the shape of an active swimmer as a balance between the external fluid stresses, the internal driving mome…
We conduct experiments with flexible swimmers to address the impact of fluid viscoelasticity on their locomotion. The swimmers are composed of a magnetic head actuated in rotation by a frequency-controlled magnetic field and a flexible tail whose deformation leads to forward propulsion. We consider both viscous Newtonian and glucose-based Boger fluids with similar viscosities. We find that the elasticity of the fluid systematically enhances the locomotion speed of the swimmer, and that this enhancement increases with Deborah number. Using Particle Image Velocimetry to visualize the flow field,…
Microscale propulsion is integral to numerous biomedical systems, for example biofilm formation and human reproduction, where the surrounding fluids comprise suspensions of polymers. These polymers endow the fluid with non-Newtonian rheological properties, such as shear-thinning and viscoelasticity. Thus, the complex dynamics of non-Newtonian fluids presents numerous modelling challenges, strongly motivating experimental study. Here, we demonstrate that failing to account for "out-of-plane" effects when analysing experimental data of undulatory swimming through a shear-thinning fluid results i…
We experimentally and theoretically study the dynamics of a low-Reynolds number helical swimmer moving across viscosity gradients. Experimentally, a double-layer viscosity is generated by superposing two miscible fluids with similar densities but different dynamic viscosities. A synthetic helical magnetically-driven swimmer is then made to move across the viscosity gradients along four different configurations: either head-first (pusher swimmer) or tail-first (puller), and through either positive (i.e. going from low to high viscosity) or negative viscosity gradients. We observe qualitative di…
We propose minimal models of one-, two- and three-dimensional micro-swimmers at low Reynolds number with a periodic non-reciprocal motion. These swimmers are either "pushers" or "pullers" of fluid along the swimming axis, or combination of the two, depending on the history of the swimming motion. We show this with a linear three-bead swimmer by analytically evaluating the migration speed and the strength of the dipolar flow induced by its swimming motion. It is found that the distance traveled per cycle and the dipolar flow can be obtained from an integral over the area enclosed by the traject…
A growing body of work aims at designing and testing micron-scale synthetic swimmers. One method, inspired by the locomotion of flagellated bacteria, consists of applying a rotating magnetic field to a rigid, helically-shaped, propeller attached to a magnetic head. When the resulting device, termed an artificial bacteria flagellum, is aligned perpendicularly to the applied field, the helix rotates and the swimmer moves forward. Experimental investigation of artificial bacteria flagella shows that at low frequency of the applied field, the axis of the helix does not align perpendicularly to the…
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…
Many microorganisms live and evolve in complex fluids. Examples include mammalian spermatozoa in cervical mucus, worms (e.g., \textit{C. elegans}) in wet soil, and bacteria (e.g., \textit{H. pylori}) in our stomach lining. Due to the presence of (bio)polymers and/or solids, such fluids often display nonlinear response to (shear) stresses including viscoelasticity and shear-rate dependent viscosity. The successful interaction between these microorganisms and their fluid environment is critical to the function of many biological processes including human reproduction, ecosystem dynamics, and the…
We use the boundary element method to study the low-Reynolds number locomotion of a spherical model microorganism in a circular tube. The swimmer propels itself by tangen- tial or normal surface motion in a tube whose radius is on the order of the swimmer size. Hydrodynamic interactions with the tube walls significantly affect the average swimming speed and power consumption of the model microorganism. In the case of swimming parallel to the tube axis, the locomotion speed is always reduced (resp. increased) for swimmers with tangential (resp. normal) deformation. In all cases, the rate of wor…
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 simple squirmer model, which has an axisymmetric distribution of slip velocity, the chiral squirmer has additional asymmetries in the surface slip, which contribute to both translations and rotations of the motion. As a result, swimming trajectories can become helical and chiral asymmetries arise in the ow patterns. We study the swimming trajectories of a pair …
The drag anisotropy of slender filaments is a critical physical property allowing swimming in low-Reynolds number flows, and without it linear translation is impossible. Here we show that, in contrast, net rotation can occur under isotropic drag. We first demonstrate this result formally by considering the consequences of the force- and torque-free conditions on swimming bodies and we then illustrate it with two examples (a simple swimmers made of three rods and a model bacterium with two helical flagellar filaments). Our results highlight the different role of hydrodynamic forces in generatin…
