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）
Thomas Kiechl, Amy Altshuler, Anton Lüders, Yael Roichman, Thomas Franosch
Macroscopic active matter systems, such as bristle bots, provide a compelling platform for investigating nonequilibrium dynamics at highly visible scales. To fully leverage their accessibility, accurate mathematical models are needed to corroborate experiments. In this work, we study the motion of a free chiral hexbug (Nano-Newton Series) via video tracking and compare the results to theoretical predictions from overdamped Langevin equations for active Brownian circle swimmers (ABCs). We find good agreement between the hexbug's dynamics and ABC model predictions, particularly for the mean-squared displacement and the intermediate scattering function (ISF). Deviations between the hexbug data and the ABC model arise primarily in the short-time behavior of the real-space propagator, where translational noise is most evident. Our results generally support the use of models based on overdamped Langevin equations as a robust framework for describing hexbug motion when the influence of translational noise is negligible. Moreover, they demonstrate the sensitivity of ISF- and propagator-based analyses in characterizing active systems. Our approach opens new avenues toward refining coarse-grained models and advancing the theoretical understanding of macroscopic active systems.
Colloidal particles partially coated with platinum and dispersed in H2O2 solution are often used as model self-propelled colloids. Most current data suggest that neutral self-diffusiophoresis propels these particles. However, several studies have shown strong ionic effects in this and related systems, such as a reduction of propulsion speed by salt. We investigate these ionic effects in Pt-coated polystyrene colloids, and find here that the direction of propulsion can be reversed by addition of an ionic surfactant, and that although adding pH neutral salts reduces the propulsion speed, adding …
We consider a colony of point-like self-propelled surfactant particles (swimmers) without direct interactions that cover a thin liquid layer on a solid support. Although the particles predominantly swim normal to the free film surface, their motion also has a component parallel to the film surface. The coupled dynamics of the swimmer density and film height profile is captured in a long-wave model allowing for diffusive and convective transport of the swimmers (including rotational diffusion). The dynamics of the film height profile is determined by three physical effects: the upward pushing f…
The hydrodynamic interactions of a suspension of self-propelled particles are studied using a direct numerical simulation method which simultaneously solves for the host fluid and the swimming particles. A modified version of the "Smoothed Profile" method (SPM) is developed to simulate microswimmers as squirmers, which are spherical particles with a specified surface-tangential slip velocity between the particles and the fluid. This simplified swimming model allows one to represent different types of propulsion (pullers and pushers) and is thus ideal to study the hydrodynamic interactions amon…
With a detail microscopic model for a self-propelled swimmer, we derive the rheological properties of a dilute suspension of such particles at small Peclet numbers. It is shown that, in addition to the Einstein's like contribution to the effective viscosity, that is proportional to the volume fraction of the swimmers, a contribution due to the activity of self-propelled particles influences the viscosity. As a result of the activity of swimmers, the effective viscosity would be a lower (higher) than the viscosity of the suspending medium when the particles are pushers (pullers). Such activity …
We propose a reciprocal, self-propelled model swimmer at intermediate Reynolds numbers ($Re$). Our swimmer consists of two unequal spheres that oscillate in antiphase generating nonlinear steady streaming (SS) flows. We show computationally that the SS flows enable the swimmer to propel itself, and also switch direction as $Re$ increases. We quantify the transition in the swimming direction by collapsing our data on a critical $Re$ and show that the transition in swimming directions corresponds to the reversal of the SS flows. Based on our findings, we propose that SS can be an important physi…
Suitable asymmetric microstructures can be used to control the direction of motion in microorganism populations. This rectification process makes it possible to accumulate swimmers in a region of space or to sort different swimmers. Here we study numerically how the separation process depends on the specific motility strategies of the microorganisms involved. Crucial properties such as the separation efficiency and the separation time for two bacterial strains are precisely defined and evaluated. In particular, the sorting of two bacterial populations inoculated in a box consisting of a series…
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…
Active (i.e., self-propelled or swimming) particles moving through an isotropic fluid exhibit conventional diffusive behavior. We report anomalous diffusion of an active particle moving in an anisotropic, nematic background. Whilst the translational motion parallel to the nematic director shows ballistic behavior, the long-time transverse motion is super-diffusive, with an anomalous scaling $\propto t \ln t$ of the mean squared displacement with time $t$. This behavior is predicted by an analytical theory that we present here, and is corroborated by numerical simulation of active particle diff…
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…
Active diffusiophoresis - swimming through interaction with a self-generated, neutral, solute gradient - is a paradigm for autonomous motion at the micrometer scale. We study this propulsion mechanism within a linear response theory. Firstly, we consider several aspects relating to the dynamics of the swimming particle. We extend established analytical formulae to describe small swimmers, which interact with their environment on a finite lengthscale. Solute convection is also taken into account. Modeling of the chemical reaction reveals a coupling between the angular distribution of reactivity…
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…
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…
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…
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…
Self-propelled phoretic colloids have recently emerged as a promising avenue for the design of artificial swimmers. These swimmers combine purely phoretic interactions with intricate hydrodynamics which critically depend on the swimmer shape. Thermophobic dimer shaped colloids are here investigated by means of hydrodynamic simulations, from the single particle motion to their collective behavior. The combination of phoretic repulsion with hydrodynamic lateral attraction favors the formation of planar moving clusters. The resulting hydrodynamic assembly in flattened swarms is therefore very spe…
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-fo…
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…
Catching fish with a fishing net is typically done either by dragging a fishing net through quiescent water or by placing a stationary basket trap into a stream. We transfer these general concepts to micron-sized self-motile particles moving in a solvent at low Reynolds number and study their collective trapping behaviour by means of computer simulations of a two-dimensional system of self-propelled rods. A chevron-shaped obstacle is dragged through the active suspension with a constant speed $v$ and acts as a trapping "net". Three trapping states can be identified corresponding to no trapping…
Surface interactions provide a class of mechanisms which can be employed for propulsion of micro- and nanometer sized particles. We investigate the related efficiency of externally and self-propelled swimmers. A general scaling relation is derived showing that only swimmers whose size is comparable to, or smaller than, the interaction range can have appreciable efficiency. An upper bound for efficiency at maximum power is 1/2. Numerical calculations for the case of diffusiophoresis are found to be in good agreement with analytical expressions for the efficiency.
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 …
Non-equilibrium dynamics of topological defects can be used as a fundamental propulsion mechanism in microscopic active matter. Here, we demonstrate swimming of topological defect-propelled colloidal particles in (passive) nematic fluids through experiments and numerical simulations. Dynamic swim strokes of the topological defects are driven by colloidal rotation in an external magnetic field, causing periodic defect rearrangement which propels the particles. The swimming velocity is determined by the colloid's angular velocity, sense of rotation and defect polarity. By controlling them we can…
External gradients can strongly influence the collective behavior of microswimmers. In this paper, we study the behavior of two hydrodynamically interacting self-propelled chiral swimmers, in the low-Reynolds number regime, under the influence of an external linear chemical gradient. We use the generalized squirmer model called the chiral squirmer, a spherically shaped body with an asymmetric surface slip velocity, to represent the swimmer. We find that the external gradient favors the attraction between the swimmers and, in some situations, leads to a bounded state in which the swimmers move …
We consider self-propelled droplets which are driven by internal flow. Tracer particles, which are advected by the flow, in general follow chaotic trajectories, even though the motion of the autonomous swimmer is completely regular. The flow is mixing, and for Péclet and Batchelor numbers, which are realized e.g. in eucaryotic cells, advective mixing can substantially accelerate and even dominate transport by diffusion.
As technological advances allow us to fabricate smaller autonomous self-propelled devices, it is clear that at some point directed propulsion could not come from pre-specified deterministic periodic deformation of the swimmer's body and we need to develop strategies to extract a net directed motion from a series of random transitions in the conformation space of the swimmer. We present a theoretical formulation to describe the "stochastic motor" that drives the motion of low Reynolds number swimmers based on this concept, and use it to study the propulsion of a simple low Reynolds number swimm…
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…
The quest for designing new self-propelled colloids is fuelled by the demand for simple experimental models to study the collective behaviour of their more complex natural counterparts. Most synthetic self-propelled particles move by converting the input energy into translational motion. In this work we address the question if simple self-propelled spheres can assemble into more complex structures that exhibit rotational motion, possibly coupled with translational motion as in flagella. We exploit a combination of induced dipolar interactions and a bonding step to create permanent linear bead …
A plethora of active matter models exist that describe the behavior of self-propelled particles (or swimmers), both with and without hydrodynamics. However, there are few studies that consider shape-anisotropic swimmers and include hydrodynamic interactions. Here, we introduce a simple method to simulate self-propelled colloids interacting hydrodynamically in a viscous medium using the lattice-Boltzmann technique. Our model is based on raspberry-type viscous coupling and a force/counter-force formalism which ensures that the system is force free. We consider several anisotropic shapes and char…
Water is a polar solvent and hence supports the bulk dissociation of itself and its solutes into ions, and the re-association of these ions into neutral molecules in a dynamic equilibrium, e.g., ${\rm H_2O_2}\leftrightharpoons {\rm H^+~+~HO_2^-}$. Using continuum theory, we study the influence of these reactions on the self-propulsion of colloids driven by surface chemical reactions (chemical swimmers) in aqueous solution. The association-dissociation reactions are here shown to have a strong influence on the swimmers' behaviour, and must therefore be included in future modelling. In particula…
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…
Hydrodynamic interaction strongly influences the collective behavior of the microswimmers. With this work, we study the behavior of two hydrodynamically interacting self-propelled chiral swimmers in the low Reynolds number regime, considering both the near and far-field interactions. We use the chiral squirmer model, a spherically shaped body with non-axisymmetric surface slip velocity, which generalizes the well-known squirmer model. We calculate the lubrication force between the swimmers when they are very close to each other. By varying the slip coefficients and the initial configuration of…
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…
We describe colloidal Janus particles with metallic and dielectric faces that swim vigorously when illuminated by defocused optical tweezers without consuming any chemical fuel. Rather than wandering randomly, these optically-activated colloidal swimmers circulate back and forth through the beam of light, tracing out sinuous rosette patterns. We propose a model for this mode of light-activated transport that accounts for the observed behavior through a combination of self-thermophoresis and optically-induced torque. In the deterministic limit, this model yields trajectories that resemble roset…
In this experimental study, we report on the mixing properties of interfacial colloidal floaters (glass bubbles) by chemical and hydrodynamical currents generated by self-propelled camphor disks swimming at the air-water interface. Despite reaching a statistically stationary state for the glass bubbles distribution, those floaters always remain only partially mixed. This intermediate state results from a competition between (i) the mixing induced by the disordered motion of many camphor swimmers and (ii) the unmixing promoted by the chemical cloud attached to each individual self-propelled dis…
Run-and-tumble dynamics is a wide-spread mechanism of swimming bacteria. The accumulation of run-and-tumble microswimmers near impermeable surfaces is studied theoretically and numerically in the low-density limit in two and three spatial dimensions. Both uni-modal and exponential distributions of the run lengths are considered. Constant run lengths lead to {peaks and depletions regions} in the density distribution of particles near the surface, in contrast to {exponentially-distributed run lengths}. Finally, we present a universal accumulation law for large channel widths, which applies not o…
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.
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…
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…
Living microorganisms are capable of a tactic response to external stimuli by swimming towards or away from the stimulus source; they do so by adapting their tactic signal transduction pathways to the environment. Their self-motility thus allows them to swim against a traveling tactic wave, whereas a simple fore-rear asymmetry argument would suggest the opposite. Their biomimetic counterpart, the artificial microswimmers, also propel themselves by harvesting kinetic energy from an active medium, but, in contrast, lack the adaptive capacity. Here we investigate the transport of artificial swimm…
Self-propelled particles can spontaneously form dense phases from a dilute suspension in a process referred to as motility-induced phase separation. The properties of the out-of-equilibrium structures that are formed are governed by the specifics of the particle interactions and the strength of the activity. Thus far, most studies into the formation of these structures have focused on spherical colloids, dumbbells, and rod-like particles endowed with various interaction potentials. Only a few studies have examined the collective behavior of more complex particle shapes. Here, we increase the g…
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 …
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…
Inspired by the classical Kepler and Rutherford problem, we investigate an analogous set-up in the context of active microswimmers: the behavior of a deformable microswimmer in a swirl flow. First we identify new steady bound states in the swirl flow and analyze their stability. Second we study the dynamics of a self-propelled swimmer heading towards the vortex center, and we observe the subsequent capturing and scattering dynamics. We distinguish between two major types of swimmers, those that tend to elongate perpendicularly to the propulsion direction and those that pursue a parallel elonga…
The study of active matter consisting of many self-propelled (active) swimmers in an imposed flow is important for many applications. Self-propelled swimmers may represent both living and artificial ones such as bacteria and chemically driven bi-metallic nano-particles. In this work we focus on a kinetic description of active matter represented by self-propelled rods swimming in a viscous fluid confined by a wall. It is well-known that walls may significantly affect the trajectories of active rods in contrast to unbounded or periodic containers. Among such effects are accumulation at walls and…
The overdamped Brownian motion of a self-propelled particle which is driven by a projected internal force is studied by solving the Langevin equation analytically. The "active" particle under study is restricted to move along a linear channel. The direction of its internal force is orientationally diffusing on a unit circle in a plane perpendicular to the substrate. An additional time-dependent torque is acting on the internal force orientation. The model is relevant for active particles like catalytically driven Janus particles and bacteria moving on a substrate. Analytical results for the fi…
Self-propelled point-like particles move along circular trajectories when their translocation velocity is constant and the angular velocity related to their orientation vector is also constant. We investigate the collective behavior of ensembles of such circle swimmers by Brownian dynamics simulations. If the particles interact via a "velocity-trajectory coordination" rule within neighboring particles, a self-organized vortex pattern emerges. This vortex pattern is characterized by its particle-density correlation function $G_ρ$, the density correlation function $G_c$ of trajectory centers, an…
Using a simple model of self-propelled particle, the effective shear viscosity of a dilute, spatially homogeneous suspension of active particles is studied. We use formulation of non-linear Fokker-Planck equation to drive a kinetic description, including the effect of external flow field, rotary diffusion, and particle-particle hydrodynamic interactions in two dimensions. Analytical expressions are obtained for the stress tensor at small Peclet numbers, in a simple shear flow, up to second order of volume fraction of the swimmers, which shows the explicit dependence of shear viscosity on the d…
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…
Collective behavior of self-propelled particles is observed on a microscale for swimmers such as sperm and bacteria as well as for protein filaments in motility assays. The properties of such systems depend both on their dimensionality and the interactions between their particles. We introduce a model for self-propelled rods in two dimensions that interact via a separation-shifted Lennard-Jones potential. Due to the finite potential barrier, the rods are able to cross. This model allows us to efficiently simulate systems of self-propelled rods that effectively move in two dimensions but can oc…
Dense suspensions of self-propelled rod-like particles exhibit a fascinating variety of non-equilibrium phenomena. By means of computer simulations of a minimal model for rigid self-propelled colloidal rods with variable shape we explore the generic diagram of emerging states over a large range of rod densities and aspect ratios. The dynamics is studied using a simple numerical scheme for the overdamped noiseless frictional dynamics of a many-body system in which steric forces are dominant over hydrodynamic ones. The different emergent states are identified by various characteristic correlatio…
Hydrodynamical interactions of active micro-particles are pervasive in our planet's fluid environments. Hence, understanding the interactions of these self-propelled particles is essential for science and engineering. In this paper the suspensions of active swimmer-rotor particles have been mathematically modeled by extending a previously developed stochastic kinetic theory to analyze heterogeneous collections of microswimmers and microrotors with multiple spin velocity populations. The paper uses this modeling approach to derive insights on large scale properties such as suspension instabilit…
We numerically explore the behavior of repelling and aligning self-propelled polar particles (boids) in 2D enclosed by a damped flexible and elastic loop-shaped boundary. We observe disordered, polar ordered (or jammed) and circulating states. The latter produce a rich variety of boundary shapes including; circles, ovals, irregulars, ruffles, or sprockets, depending upon the bending moment of the boundary and the boundary to particle mass ratio. With the exception of the circulating states with non-round boundaries, states resemble those exhibited by attracting self-propelled particles, but he…
