The motion of a deforming capsule through a corner

A three-dimensional deformable capsule convected through a square duct with a corner is studied via numerical simulations. We develop an accelerated boundary integral implementation adapted to general geometries and boundary conditions. A global spectral method is adopted to resolve the dynamics of the capsule membrane developing elastic tension according to the neo-Hookean constitutive law and bending moments in an inertialess flow. The simulations show that the trajectory of the capsule closely follows the underlying streamlines independently of the capillary number. The membrane deformability, on the other hand, significantly influences the relative area variations, the advection velocity and the principal tensions observed during the capsule motion. The evolution of the capsule velocity displays a loss of the time-reversal symmetry of Stokes flow due to the elasticity of the membrane. The velocity decreases while the capsule is approaching the corner as the background flow does, reaches a minimum at the corner and displays an overshoot past the corner due to the streamwise elongation induced by the flow acceleration in the downstream branch. This velocity overshoot increases with confinement while the maxima of the major principal tension increase linearly with the inverse of the duct width. Finally, the deformation and tension of the capsule are shown to decrease in a curved corner

Viscous Taylor droplets in axisymmetric and planar tubes: from Bretherton's theory to empirical models

The aim of this study is to derive accurate models for quantities characterizing the dynamics of droplets of non-vanishing viscosity in capillaries. In particular, we propose models for the uniform-film thickness separating the droplet from the tube walls, for the droplet front and rear curvatures and pressure jumps, and for the droplet velocity in a range of capillary numbers, $Ca$, from $10^{-4}$ to $1$ and inner-to-outer viscosity ratios, $\lambda$, from $0$, i.e. a bubble, to high viscosity droplets. Theoretical asymptotic results obtained in the limit of small capillary number are combined with accurate numerical simulations at larger $Ca$. With these models at hand, we can compute the pressure drop induced by the droplet. The film thickness at low capillary numbers ($Ca<10^{-3}$) agrees well with Bretherton's scaling for bubbles as long as $\lambda<1$. For larger viscosity ratios, the film thickness increases monotonically, before saturating for $\lambda>10^3$ to a value $2^{2/3}$ times larger than the film thickness of a bubble. At larger capillary numbers, the film thickness follows the rational function proposed by Aussillous \& Qu\'er\'e (2000) for bubbles, with a fitting coefficient which is viscosity-ratio dependent. This coefficient modifies the value to which the film thickness saturates at large capillary numbers. The velocity of the droplet is found to be strongly dependent on the capillary number and viscosity ratio. We also show that the normal viscous stresses at the front and rear caps of the droplets cannot be neglected when calculating the pressure drop for $Ca>10^{-3}$

The stability of a rising droplet: an inertialess nonmodal growth mechanism

Prior modal stability analysis (Kojima et al., Phys. Fluids, vol. 27, 1984) predicted that a rising or sedimenting droplet in a viscous fluid is stable in the presence of surface tension no matter how small, in contrast to experimental and numerical results. By performing a non-modal stability analysis, we demonstrate the potential for transient growth of the interfacial energy of a rising droplet in the limit of inertialess Stokes equations. The predicted critical capillary numbers for transient growth agree well with those for unstable shape evolution of droplets found in the direct numerical simulations of Koh & Leal (Phys. Fluids, vol. 1, 1989). Boundary integral simulations are used to delineate the critical amplitude of the most destabilizing perturbations. The critical amplitude is negatively correlated with the linear optimal energy growth, implying that the transient growth is responsible for reducing the necessary perturbation amplitude required to escape the basin of attraction of the spherical solution.Comment: 11pages, 7 figure

Training microrobots to swim by a large language model

Machine learning and artificial intelligence have recently represented a popular paradigm for designing and optimizing robotic systems across various scales. Recent studies have showcased the innovative application of large language models (LLMs) in industrial control [1] and in directing legged walking robots [2]. In this study, we utilize an LLM, GPT-4, to train two prototypical microrobots for swimming in viscous fluids. Adopting a few-shot learning approach, we develop a minimal, unified prompt composed of only five sentences. The same concise prompt successfully guides two distinct articulated microrobots -- the three-link swimmer and the three-sphere swimmer -- in mastering their signature strokes. These strokes, initially conceptualized by physicists, are now effectively interpreted and applied by the LLM, enabling the microrobots to circumvent the physical constraints inherent to micro-locomotion. Remarkably, our LLM-based decision-making strategy substantially surpasses a traditional reinforcement learning method in terms of training speed. We discuss the nuanced aspects of prompt design, particularly emphasizing the reduction of monetary expenses of using GPT-4

Rotation of a low-Reynolds-number watermill: theory and simulations

Recent experiments have demonstrated that small-scale rotary devices installed in a microfluidic channel can be driven passively by the underlying flow alone without resorting to conventionally applied magnetic or electric fields. In this work, we conduct a theoretical and numerical study on such a flow-driven "watermill" at low Reynolds number, focusing on its hydrodynamic features. We model the watermill by a collection of equally-spaced rigid rods. Based on the classical resistive force (RF) theory and direct numerical simulations, we compute the watermill's instantaneous rotational velocity as a function of its rod number $N$, position and orientation. When $N \geq 4$, the RF theory predicts that the watermill's rotational velocity is independent of $N$ and its orientation, implying the full rotational symmetry (of infinity order), even though the geometrical configuration exhibits a lower-fold rotational symmetry; the numerical solutions including hydrodynamic interactions show a weak dependence on $N$ and the orientation. In addition, we adopt a dynamical system approach to identify the equilibrium positions of the watermill and analyse their stability. We further compare the theoretically and numerically derived rotational velocities, which agree with each other in general, while considerable discrepancy arises in certain configurations owing to the hydrodynamic interactions neglected by the RF theory. We confirm this conclusion by employing the RF-based asymptotic framework incorporating hydrodynamic interactions for a simpler watermill consisting of two or three rods and we show that accounting for hydrodynamic interactions can significantly enhance the accuracy of the theoretical predictions

The dynamics of a capsule in a wall-bounded oscillating shear flow

The motion of an initially spherical capsule in a wall-bounded oscillating shear flow is investigated via an accelerated boundary integral implementation. The neo-Hookean model is used as the constitutive law of the capsule membrane. The maximum wall-normal migration is observed when the oscillation period of the imposed shear is of the order of the relaxation time of the elastic membrane; hence, the optimal capillary number scales with the inverse of the oscillation frequency and the ratio agrees well with the theoretical prediction in the limit of high-frequency oscillation. The migration velocity decreases monotonically with the frequency of the applied shear and the capsule-wall distance. We report a significant correlation between the capsule lateral migration and the normal stress difference induced in the flow. The periodic variation of the capsule deformation is roughly in phase with that of the migration velocity and normal stress difference, with twice the frequency of the imposed shear. The maximum deformation increases linearly with the membrane elasticity before reaching a plateau at higher capillary numbers when the deformation is limited by the time over which shear is applied in the same direction and not by the membrane deformability. The maximum membrane deformation scales as the distance to the wall to the power 1/3 as observed for capsules and droplets in near-wall steady shear flows