Slender-body approximations have been successfully used to explain many phenomena in low-Reynolds number fluid mechanics. These approximations typically use a line of singularity solutions to represent the flow. These singularities can be difficult to implement numerically because they diverge at their origin. Hence people have regularized these singularities to overcome this issue. This regularization blurs the force over a small blob therefore removing the divergent behaviour. However it is unclear how best to regularize the singularities to minimize errors. In this paper we investigate if a line of regularized Stokeslets can describe the flow around a slender body. This is achieved by comparing the asymptotic behaviour of the flow from the line of regularized Stokeslets with the results from slender-body theory. We find that the flow far from the body can be captured if the regularization parameter is proportional to the radius of the slender body. This is consistent with what is assumed in numerical simulations and provides a choice for the proportionality constant. However more stringent requirements must be placed on the regularization blob to capture the near field flow outside a slender body. This inability to replicate the local behaviour indicates that many regularizations cannot satisfy the non-slip boundary conditions on the bodies surface to leading order, with one of the most commonly used regularizations showing an angular dependency of velocity along any cross section. This problem can be overcome with compactly supported blobs { and we construct one such example blob which could be effectively used to simulate the flow around a slender body
The viscous drag on a slender rod by a wall is important to many biological and industrial systems. This drag critically depends on the separation between the rod and the wall and can be approximated asymptotically in specific regimes, namely far from, or very close to, the wall, but is typically determined numerically for general separations. In this note we determine an asymptotic representation of the local drag for a slender rod parallel to a wall which is valid for all separations. This is possible through matching the behaviour of a rod close to the wall and a rod far from the wall. We show that the leading order drag in both these regimes has been known since 1981 and that they can used to produce a composite representation of the drag which is valid for all separations. This is in contrast to a sphere above a wall, where no simple uniformly valid representation exists. We estimate the error on this composite representation as the separation increases, discuss how the results could be used as resistive-force theory and demonstrate their use on a two-hinged swimmer above a wall.
The geometric phase techniques for swimming in viscous flows express the net displacement of a swimmer as a path integral of a field in configuration space. This representation can be transformed into an area integral for simple swimmers using Stokes theorem. Since this transformation applies for any loop, the integrand of this area integral can be used to help design these swimmers. However, the extension of this Stokes theorem technique to more complicated swimmers is hampered by problems with variables that do not commute and by how to visualise and understand the higher dimensional spaces. In this paper, we develop a treatment for each of these problems, thereby allowing the displacement of general swimmers in any environment to be designed and understood similarly to simple swimmers. The net displacement arising from non-commuting variables is tackled by embedding the integral into a higher dimensional space, which can then be visualised through a suitability constructed surface. These methods are developed for general swimmers and demonstrated on {three} benchmark examples: Purcells two-hinged swimmer, an axisymmetric squirmer in free space {and an axisymmetric squirmer approaching a free interface}. We show in particular that for swimmers with more than two modes of deformation, there exists an infinite set of strokes that generate each net displacement. Hence, in the absence of additional restrictions, general microscopic swimmers do not have a single stroke that maximises their displacement.
Since their development in 2001, regularised stokeslets have become a popular numerical tool for low-Reynolds number flows since the replacement of a point force by a smoothed blob overcomes many computational difficulties associated with flow singularities (Cortez, 2001, textit{SIAM J. Sci. Comput.} textbf{23}, 1204). The physical changes to the flow resulting from this process are, however, unclear. In this paper, we analyse the flow induced by general regularised stokeslets. An explicit formula for the flow from any regularised stokeslet is first derived, which is shown to simplify for spherically symmetric blobs. Far from the centre of any regularised stokeslet we show that the flow can be written in terms of an infinite number of singularity solutions provided the blob decays sufficiently rapidly. This infinite number of singularities reduces to a point force and source dipole for spherically symmetric blobs. Slowly-decaying blobs induce additional flow resulting from the non-zero body forces acting on the fluid. We also show that near the centre of spherically symmetric regularised stokeslets the flow becomes isotropic, which contrasts with the flow anisotropy fundamental to viscous systems. The concepts developed are used to { identify blobs that reduce regularisation errors. These blobs contain regions of negative force in order to counter the flows produced in the regularisation process, but still retain a form convenient for computations.
The current understanding of motility through body shape deformation of microorganisms and the knowledge of fluid flows at the microscale provides ample examples for mimicry and design of soft microrobots. In this work, a two-dimensional spiral is presented that is capable of rotating by non-reciprocal curling deformations. The body of the microswimmer is a ribbon consisting of a thermo-responsive hydrogel bilayer with embedded plasmonic gold nanorods. Such a system allows fast local photothermal heating and non-reciprocal bending deformation of the hydrogel bilayer under non-equilibrium conditions. We show that the spiral acts as a spring capable of large deformations thanks to its low stiffness, which is tunable by the swelling degree of the hydrogel and the temperature. Tethering the ribbon to a freely rotating microsphere enables rotational motion of the spiral by stroboscopic irradiation. The efficiency of the rotor is estimated using resistive force theory for Stokes flow. The present research demonstrates microscopic locomotion by the shape change of a spiral and may find applications in the field of microfluidics, or soft micro-robotics.
Control on microscopic scales depends critically on our ability to manipulate interactions with different physical fields. The creation of micro-machines therefore requires us to understand how multiple fields, such as surface capillary or electro-magnetic, can be used to produce predictable behaviour. Recently, a spinning micro-raft system was developed that exhibited both static and dynamic self-assembly [Wang et al. (2017) Sci. Adv. 3, e1602522]. These rafts employed both capillary and magnetic interactions and, at a critical driving frequency, would suddenly change from stable orbital patterns to static assembled structures. In this paper, we explain the dynamics of two interacting micro-rafts through a combination of theoretical models and experiments. This is first achieved by identifying the governing physics of the orbital patterns, the assembled structures, and the collapse separately. We find that the orbital patterns are determined by the short range capillary interactions between the disks, while the explanations of the other two behaviours only require the capillary far field. Finally we combine the three models to explain the dynamics of a new micro-raft experiment.
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 swimmer that maintains a helical centreline and a single handedness while changing its helix radius, pitch and wavelength uniformly across the body. We first discuss how a deforming helix can create a non-reciprocal translational and rotational swimming stroke and identify its principle direction of motion. We then determine the leading-order physics for helices with small helix radius before considering the general behaviour for different configuration parameters and how these swimmers can be optimised. Finally, we explore how the presence of walls, gravity, and defects in the centreline allow the helical device to break symmetries, increase its speed, and generate transport in directions not available to helices in bulk fluids.
The incompressible Stokes equations can classically be recast in a boundary integral (BI) representation, which provides a general method to solve low-Reynolds number problems analytically and computationally. Alternatively, one can solve the Stokes equations by using an appropriate distribution of flow singularities of the right strength within the boundary, a method particularly useful to describe the dynamics of long slender objects for which the numerical implementation of the BI representation becomes cumbersome. While the BI approach is a mathematical consequence of the Stokes equations, the singularity method involves making judicious guesses that can only be justified a posteriori. In this paper we use matched asymptotic expansions to derive an algebraically accurate slender-body theory directly from the BI representation able to handle arbitrary surface velocities and surface tractions. This expansion procedure leads to sets of uncoupled linear equations and to a single one-dimensional integral equation identical to that derived by Keller and Rubinow (1976) and Johnson (1979) using the singularity method. Hence we show that it is a mathematical consequence of the BI approach that the leading-order flow around a slender body can be represented using a distribution of singularities along its centreline. Furthermore when derived from either the single-layer or double-layer modified BI representation, general slender solutions are only possible in certain types of flow, in accordance with the limitations of these representations.
The low-Reynolds number hydrodynamics of slender ribbons is accurately captured by slender-ribbon theory, an asymptotic solution to the Stokes equation which assumes that the three length scales characterising the ribbons are well separated. We show in this paper that the force distribution across the width of an isolated ribbon located in a infinite fluid can be determined analytically, irrespective of the ribbons shape. This, in turn, reduces the surface integrals in the slender-ribbon theory equations to a line integral analogous to the one arising in slender-body theory to determine the dynamics of filaments. This result is then used to derive analytical solutions to the motion of a rigid plate ellipsoid and a ribbon torus and to propose a ribbon resistive-force theory, thereby extending the resistive-force theory for slender filaments.
We derive a governing equation for a Kelvin wave supported on a vortex line in a Bose-Einstein condensate, in a rotating cylindrically symmetric parabolic trap. From this solution the Kelvin wave dispersion relation is determined. In the limit of an oblate trap and in the absence of longitudinal trapping our results are consistent with previous work. We show that the derived Kelvin wave dispersion in the general case is in quantitative agreement with numerical calculations of the Bogoliubov spectrum and offer a significant improvement upon previous analytical work.
