Validated reduced order models for simulating trajectories of bio-inspired artificial micro-swimmers

Autonomous micro-swimming robots can be utilized to perform specialized procedures such as in vitro or in vivo medical tasks as well as chemical surveillance or micro manipulation. Maneuverability of the robot is one of the requirements that ensure successful completion of its task. In micro fluidic environments, dynamic trajectories of active micro-swimming robots must be predicted reliably and the response of control inputs must be well-understood. In this work, a reduced-order model, which is based on the resistive force theory, is used to predict the transient, coupled rigid body dynamics and hydrodynamic behavior of bio-inspired artificial micro-swimmers. Conceptual design of the micro-swimmer is biologically inspired: it is composed of a body that carries a payload, control and actuation mechanisms, and a long flagellum either such as an inextensible whip like tail-actuator that deforms and propagates sinusoidal planar waves similar to spermatozoa, or of a rotating rigid helix similar to many bacteria, such as E. Coli. In the reduced-order model of the microswimmer, fluid’s resistance to the motion of the body and the tail are computed from resistive force theory, which breaks up the resistance coefficients to local normal and tangential components. Using rotational transformations between a fixed world frame, body frame and the local Frenet-Serret coordinates on the helical tail we obtain the full 6 degrees-of-freedom relationship between the resistive forces and torques and the linear and rotational motions of the swimmer. In the model, only the tail’s frequency (angular velocity for helical tail) is used as a control input in the dynamic equations of the micro-swimming robot. The reduced-order model is validated by means of direct observations of natural micro swimmers presented earlier in the literature and against; results show very good agreement. Three-dimensional, transient CFD simulations of a single degree of freedom swimmer is used to predict resistive force coefficients of a micro-swimmer with a spherical body and flexible tail actuator that uses traveling plane wave deformations for propulsion. Modified coefficients show a very good agreement between the predicted and actual time-dependent swimming speeds, as well as forces and torques along all axes

Physics on the edge: contour dynamics, waves and solitons in the quantum Hall effect

We present a theoretical study of the excitations on the edge of a two-dimensional electron system in a perpendicular magnetic field in terms of a contour dynamics formalism. In particular, we focus on edge excitations in the quantum Hall effect. Beyond the usual linear approximation, a non-linear analysis of the shape deformations of an incompressible droplet yields soliton solutions which correspond to shapes that propagate without distortion. A perturbative analysis is used and the results are compared to analogous systems, like vortex patches in ideal hydrodynamics. Under a local induction approximation we find that the contour dynamics is described by a non-linear partial differential equation for the curvature: the modified Korteweg-de Vries equation. PACS number(s): 73.40.Hm, 02.40.Ma, 03.40.Gc, 11.10.LmComment: 15 pages, 12 embedded figures, submitted to Phys. Rev.

Definition of smolder experiments for Spacelab

The feasibility of conducting experiments in space on smoldering combustion was studied to conceptually design specific smoldering experiments to be conducted in the Shuttle/Spacelab System. Design information for identified experiment critical components is provided. The analytical and experimental basis for conducting research on smoldering phenomena in space was established. Physical descriptions of the various competing processes pertaining to smoldering combustion were identified. The need for space research was defined based on limitations of existing knowledge and limitations of ground-based reduced-gravity experimental facilities

Rotating Super Black Hole as Spinning Particle

We give a review of the works devoted to the treatment of the Kerr super black hole solution as a spinning particle. The real, complex and stringy structures of the Kerr and super-Kerr geometries are discussed, as well as the recent results on the regular matter source for the Kerr spinning particle. It is shown that the source has to represent a rotating bag-like bubble having (A)dS interior and a smooth domain wall boundary. The given by Morris supersymmetric generalization of the U(I) x U'(I) field model (which was used by Witten to describe cosmic superconducting strings) is considered, and it is shown that this model can be adapted for description of superconducting bags having a long range external electromagnetic field and another gauge field confined inside the bag.Comment: 20 pages, Latex, talk given at the NATO Advanced Research Workshop "Non-commutative Structures in Mathematics and Physics", Kiev, September 2000 (Submitted to the Proceedings of ARW

Undulatory Locomotion

Undulatory locomotion is a means of self-propulsion that relies on the generation and propagation of waves along a body. As a mode of locomotion it is primitive and relatively simple, yet can be remarkably robust. No wonder then, that it is so prevalent across a range of biological scales from motile bacteria to gigantic prehistoric snakes. Key to understanding undulatory locomotion is the body's interplay with the physical environment, which the swimmer or crawler will exploit to generate propulsion, and in some cases, even to generate the underlying undulations. This review focuses by and large on undulators in the low Reynolds numbers regime, where the physics of the environment can be much more tractable. We review some key concepts and theoretical advances, as well as simulation tools and results applied to selected examples of biological swimmers. In particular, we extend the discussion to some simple cases of locomotion in non-Newtonian media as well as to small animals, in which the nervous system, motor control, body properties and the environment must all be considered to understand how undulations are generated and modulated. To conclude, we review recent progress in microrobotic undulators that may one day become commonplace in applications ranging from toxic waste disposal to minimally invasive surgery.Comment: 16 pages, 6 figures, to appear in Contemporary Physic

Topological phase transition in a stretchable photonic crystal

We design a setup to realize tunable topological phases in elastic photonic crystals. Using the Su-Schrieffer-Heeger (SSH) model as a canonical example, we show how a system can be continuously tuned across its topological phase transition by stretching. We examine the setup both analytically and numerically, showing how the phase transition point may be identified from the behavior of bulk modes. Our design principle is generic as it can be applied to a variety of systems, and enables multiple new theoretical predictions to be experimentally tested by continuously strain-tuning system properties, such as the shape of the bandstructure and the topological invariant. In addition, it allows for cost-effective device fabrication, since a wide range of parameter space can be accessed on a single photonic crystal chip.Comment: 6 pages, 7 figures; added results on the mean chiral displacement and updated reference lis

Angular Momentum Transport via Internal Gravity Waves in Evolving Stars

Recent asteroseismic advances have allowed for direct measurements of the internal rotation rates of many sub-giant and red giant stars. Unlike the nearly rigidly rotating Sun, these evolved stars contain radiative cores that spin faster than their overlying convective envelopes, but slower than they would in the absence of internal angular momentum transport. We investigate the role of internal gravity waves in angular momentum transport in evolving low mass stars. In agreement with previous results, we find that convectively excited gravity waves can prevent the development of strong differential rotation in the radiative cores of Sun-like stars. As stars evolve into sub-giants, however, low frequency gravity waves become strongly attenuated and cannot propagate below the hydrogen burning shell, allowing the spin of the core to decouple from the convective envelope. This decoupling occurs at the base of the sub-giant branch when stars have surface temperatures of roughly 5500 K. However, gravity waves can still spin down the upper radiative region, implying that the observed differential rotation is likely confined to the deep core near the hydrogen burning shell. The torque on the upper radiative region may also prevent the core from accreting high-angular momentum material and slow the rate of core spin-up. The observed spin-down of cores on the red giant branch cannot be totally attributed to gravity waves, but the waves may enhance shear within the radiative region and thus increase the efficacy of viscous/magnetic torques.Comment: 13 pages, 5 figures, accepted to Ap

Multi-Cue Structure Preserving MRF for Unconstrained Video Segmentation

Video segmentation is a stepping stone to understanding video context. Video segmentation enables one to represent a video by decomposing it into coherent regions which comprise whole or parts of objects. However, the challenge originates from the fact that most of the video segmentation algorithms are based on unsupervised learning due to expensive cost of pixelwise video annotation and intra-class variability within similar unconstrained video classes. We propose a Markov Random Field model for unconstrained video segmentation that relies on tight integration of multiple cues: vertices are defined from contour based superpixels, unary potentials from temporal smooth label likelihood and pairwise potentials from global structure of a video. Multi-cue structure is a breakthrough to extracting coherent object regions for unconstrained videos in absence of supervision. Our experiments on VSB100 dataset show that the proposed model significantly outperforms competing state-of-the-art algorithms. Qualitative analysis illustrates that video segmentation result of the proposed model is consistent with human perception of objects

Gauge Theories of Gravitation

During the last five decades, gravity, as one of the fundamental forces of nature, has been formulated as a gauge theory of the Weyl-Cartan-Yang-Mills type. The present text offers commentaries on the articles from the most prominent proponents of the theory. In the early 1960s, the gauge idea was successfully applied to the Poincar\'e group of spacetime symmetries and to the related conserved energy-momentum and angular momentum currents. The resulting theory, the Poincar\'e gauge theory, encompasses Einstein's general relativity as well as the teleparallel theory of gravity as subcases. The spacetime structure is enriched by Cartan's torsion, and the new theory can accommodate fermionic matter and its spin in a perfectly natural way. This guided tour starts from special relativity and leads, in its first part, to general relativity and its gauge type extensions \`a la Weyl and Cartan. Subsequent stopping points are the theories of Yang-Mills and Utiyama and, as a particular vantage point, the theory of Sciama and Kibble. Later, the Poincar\'e gauge theory and its generalizations are explored and special topics, such as its Hamiltonian formulation and exact solutions, are studied. This guide to the literature on classical gauge theories of gravity is intended to be a stimulating introduction to the subject.Comment: 169 pages, pdf file, v3: extended to a guide to the literature on classical gauge theories of gravit

Optimal Constraint Projection for Hyperbolic Evolution Systems

Techniques are developed for projecting the solutions of symmetric hyperbolic evolution systems onto the constraint submanifold (the constraint-satisfying subset of the dynamical field space). These optimal projections map a field configuration to the ``nearest'' configuration in the constraint submanifold, where distances between configurations are measured with the natural metric on the space of dynamical fields. The construction and use of these projections is illustrated for a new representation of the scalar field equation that exhibits both bulk and boundary generated constraint violations. Numerical simulations on a black-hole background show that bulk constraint violations cannot be controlled by constraint-preserving boundary conditions alone, but are effectively controlled by constraint projection. Simulations also show that constraint violations entering through boundaries cannot be controlled by constraint projection alone, but are controlled by constraint-preserving boundary conditions. Numerical solutions to the pathological scalar field system are shown to converge to solutions of a standard representation of the scalar field equation when constraint projection and constraint-preserving boundary conditions are used together.Comment: final version with minor changes; 16 pages, 14 figure