In this paper we study a mathematical model of one-dimensional swimmers performing a planar motion while fully immersed in a viscous fluid. The swimmers are assumed to be of small size, and all inertial effects are neglected. Hydrodynamic interactions are treated in a simplified way, using the local drag approximation of resistive force theory. We prove existence and uniqueness of the solution of the equations of motion driven by shape changes of the swimmer. Moreover, we prove a controllability result showing that given any pair of initial and final states, there exists a history of shape changes such that the resulting motion takes the swimmer from the initial to the final state. We give a constructive proof, based on the composition of elementary maneuvers (straightening and its inverse, rotation, translation), each of which represents the solution of an interesting motion planning problem. Finally, we prove the existence of solutions for the optimal control problem of finding, among the histories of shape changes taking the swimmer from an initial to a final state, the one of minimal energetic cost.

1 aDal Maso, Gianni1 aDeSimone, Antonio1 aMorandotti, Marco uhttp://hdl.handle.net/1963/646701314nas a2200133 4500008004100000245005400041210005200095260002100147300001100168490000600179520092400185100002201109856004901131 2012 eng d00aSelf-propelled micro-swimmers in a Brinkman fluid0 aSelfpropelled microswimmers in a Brinkman fluid bTaylor & Francis a88-1030 v63 aWe prove an existence, uniqueness, and regularity result for the motion of a self-propelled micro-swimmer in a particulate viscous medium, modelled as a Brinkman fluid. A suitable functional setting is introduced to solve the Brinkman system for the velocity field and the pressure of the fluid by variational techniques. The equations of motion are written by imposing a self-propulsion constraint, thus allowing the viscous forces and torques to be the only ones acting on the swimmer. From an infinite-dimensional control on the shape of the swimmer, a system of six ordinary differential equations for the spatial position and the orientation of the swimmer is obtained. This is dealt with standard techniques for ordinary differential equations, once the coefficients are proved to be measurable and bounded. The main result turns out to extend an analogous result previously obtained for the Stokes system.

1 aMorandotti, Marco uhttps://doi.org/10.1080/17513758.2011.61126001548nas a2200157 4500008004300000245008600043210006900129260005100198300001400249490000800263520101800271100002101289700002201310700002201332856003601354 2011 en_Ud 00aAn Existence and Uniqueness Result for the Motion of Self-Propelled Microswimmers0 aExistence and Uniqueness Result for the Motion of SelfPropelled bSociety for Industrial and Applied Mathematics a1345-13680 v 433 aWe present an analytical framework to study the motion of micro-swimmers in a viscous fluid. Our main result is that, under very mild regularity assumptions, the change of shape determines uniquely the motion of the swimmer. We assume that the Reynolds number is very small, so that the velocity field of the surrounding, infinite fluid is governed by the Stokes system and all inertial effects can be neglected. Moreover, we enforce the self propulsion constraint (no external forces and torques). Therefore, Newton\\\'s equations of motion reduce to the vanishing of the viscous drag force and torque acting on the body. By exploiting an integral representation of viscous force and torque, the equations of motion can be reduced to a system of six ordinary differential equations. Variational techniques are used to prove the boundedness and measurability of its coefficients, so that classical results on ordinary differential equations can be invoked to prove existence and uniqueness of the solution.

1 aDal Maso, Gianni1 aDeSimone, Antonio1 aMorandotti, Marco uhttp://hdl.handle.net/1963/3894