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Versatile low-Reynolds-number swimmer with three-dimensional maneuverability

Jalali, M. A ; Sharif University of Technology

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  1. Type of Document: Article
  2. DOI: 10.1103/PhysRevE.90.053006
  3. Abstract:
  4. We design and simulate the motion of a swimmer, the Quadroar, with three-dimensional translation and reorientation capabilities in low-Reynolds-number conditions. The Quadroar is composed of an I-shaped frame whose body link is a simple linear actuator and four disks that can rotate about the axes of flange links. The time symmetry is broken by a combination of disk rotations and the one-dimensional expansion or contraction of the body link. The Quadroar propels on forward and transverse straight lines and performs full three-dimensional reorientation maneuvers, which enable it to swim along arbitrary trajectories. We find continuous operation modes that propel the swimmer on planar and three-dimensional periodic and quasiperiodic orbits. Precessing quasiperiodic orbits consist of slow lingering phases with cardioid or multiloop turns followed by directional propulsive phases. Quasiperiodic orbits allow the swimmer to access large parts of its neighboring space without using complex control strategies. We also discuss the feasibility of fabricating a nanoscale Quadroar by photoactive molecular rotors
  5. Keywords:
  6. Linear actuators ; Reynolds number ; Arbitrary trajectories ; Complex control ; Continuous operation ; Full three-dimensional ; Low Reynolds number ; Molecular rotors ; One-dimensional expansion ; Quasi-periodic orbits ; Actuator disks
  7. Source: Physical Review E - Statistical, Nonlinear, and Soft Matter Physics ; Vol. 90, issue. 5 , 2014 ; ISSN: 15393755
  8. URL: http://journals.aps.org/pre/abstract/10.1103/PhysRevE.90.053006