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1. 3-D swimming microdrone powered by acoustic bubbles

   https://doi.org/10.1039/d0lc00976h  

   Liu, Fang-Wei; Cho, Sung Kwon (January 2021, Lab on a Chip)

   null (Ed.)

   Mobile microrobots that maneuver in liquid environments and navigate inside the human body have drawn a great interest due to their possibility for medical uses serving as an in vivo cargo. For this system, the effective self-propelling method, which should be powered wirelessly and controllable in 3-D space, is of paramount importance. This article describes a bubble-powered swimming microdrone that can navigate in 3-D space in a controlled manner. To enable 3-D propulsion with steering capability, air bubbles of three lengths are trapped in microtubes that are embedded and three-dimensionally aligned inside the drone body using two-photon polymerization. These bubbles can generate on-demand 3-D propulsion through microstreaming when they are selectively excited at their individual resonance frequencies that depend on the bubble sizes. In order to equip the drone with highly stable maneuverability, a non-uniform mass distribution of the drone body is carefully designed to spontaneously restore the drone to the upright position from disturbances. A mathematical model of the restoration mechanism is developed to predict the restoration behavior showing a good agreement with the experimental data. The present swimming microdrone potentially lends itself to a robust 3-D maneuverable microscale mobile cargo navigating in vitro and in vivo for biomedical applications. 

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2. Reinforcement learning of a multi-link swimmer at low Reynolds numbers

   https://doi.org/10.1063/5.0140662  

   Qin, Ke; Zou, Zonghao; Zhu, Lailai; Pak, On Shun (March 2023, Physics of Fluids)

   The use of machine learning techniques in the development of microscopic swimmers has drawn considerable attention in recent years. In particular, reinforcement learning has been shown useful in enabling swimmers to learn effective propulsion strategies through its interactions with the surroundings. In this work, we apply a reinforcement learning approach to identify swimming gaits of a multi-link model swimmer. The swimmer consists of multiple rigid links connected serially with hinges, which can rotate freely to change the relative angles between neighboring links. Purcell [“Life at low Reynolds number,” Am. J. Phys. 45, 3 (1977)] demonstrated how the particular case of a three-link swimmer (now known as Purcell's swimmer) can perform a prescribed sequence of hinge rotation to generate self-propulsion in the absence of inertia. Here, without relying on any prior knowledge of low-Reynolds-number locomotion, we first demonstrate the use of reinforcement learning in identifying the classical swimming gaits of Purcell's swimmer for case of three links. We next examine the new swimming gaits acquired by the learning process as the number of links increases. We also consider the scenarios when only a single hinge is allowed to rotate at a time and when simultaneous rotation of multiple hinges is allowed. We contrast the difference in the locomotory gaits learned by the swimmers in these scenarios and discuss their propulsion performance. Taken together, our results demonstrate how a simple reinforcement learning technique can be applied to identify both classical and new swimming gaits at low Reynolds numbers. 

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3. Galloping Bubbles

   https://doi.org/10.1038/s41467-025-56611-5  

   Guan, Jian_H; Tamim, Saiful_I; Magoon, Connor_W; Stone, Howard_A; Sáenz, Pedro_J (February 2025, Nature Communications)

   Abstract Despite centuries of investigation, bubbles continue to unveil intriguing dynamics relevant to a multitude of practical applications, including industrial, biological, geophysical, and medical settings. Here we introduce bubbles that spontaneously start to ‘gallop’ along horizontal surfaces inside a vertically-vibrated fluid chamber, self-propelled by a resonant interaction between their shape oscillation modes. These active bubbles exhibit distinct trajectory regimes, including rectilinear, orbital, and run-and-tumble motions, which can be tuned dynamically via the external forcing. Through periodic body deformations, galloping bubbles swim leveraging inertial forces rather than vortex shedding, enabling them to maneuver even when viscous traction is not viable. The galloping symmetry breaking provides a robust self-propulsion mechanism, arising in bubbles whether separated from the wall by a liquid film or directly attached to it, and is captured by a minimal oscillator model, highlighting its universality. Through proof-of-concept demonstrations, we showcase the technological potential of the galloping locomotion for applications involving bubble generation and removal, transport and sorting, navigating complex fluid networks, and surface cleaning. The rich dynamics of galloping bubbles suggest exciting opportunities in heat transfer, microfluidic transport, probing and cleaning, bubble-based computing, soft robotics, and active matter. 

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4. The effect of particle geometry on squirming in a heterogeneous medium

   https://doi.org/10.1017/jfm.2024.347  

   Demir, E.; van Gogh, B.; Palaniappan, D.; Nganguia, H. (May 2024, Journal of Fluid Mechanics)

   Biological microorganisms and artificial micro-swimmers often locomote in heterogeneous viscous environments consisting of networks of obstacles embedded into viscous fluid media. In this work, we use the squirmer model and present a numerical investigation of the effects of shape on swimming in a heterogeneous medium. Specifically, we analyse the microorganism's propulsion speed as well as its energetic cost and swimming efficiency. The analysis allows us to probe the general characteristics of swimming in a heterogeneous viscous environment in comparison with the case of a purely viscous fluid. We found that a spheroidal microorganism always propels faster, expends less energy and is more efficient than a spherical microorganism in either a homogeneous fluid or a heterogeneous medium. Moreover, we determined that above a critical eccentricity, a spheroidal microorganism in a heterogeneous medium can swim faster than a spherical microorganism in a homogeneous fluid. Based on an analysis of the forces acting on the squirmer, we offer an explanation for the decrease in the squirmer's speed observed in heterogeneous media compared with homogeneous fluids. 

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5. Dynamics of rigid achiral magnetic microswimmers in shear-thinning fluids

   https://doi.org/10.1063/5.0167307  

   Quashie, David; Wang, Qi; Jermyn, Sophie; Katuri, Jaideep; Ali, Jamel (September 2023, Physics of Fluids)

   Here, we use magnetically driven self-assembled achiral swimmers made of two to four superparamagnetic micro-particles to provide insight into how swimming kinematics develop in complex, shear-thinning fluids. Two model shear-thinning polymer fluids are explored, where measurements of swimming dynamics reveal contrasting propulsion kinematics in shear-thinning fluids vs a Newtonian fluid. When comparing the velocity of achiral swimmers in polymer fluids to their dynamics in water, we observe kinematics dependent on (1) no shear-thinning, (2) shear-thinning with negligible elasticity, and (3) shear-thinning with elasticity. At the step-out frequency, the fluidic environment's viscoelastic properties allow swimmers to propel faster than their Newtonian swimming speed, although their swimming gait remains similar. Micro-particle image velocimetry is also implemented to provide insight into how shear-thinning viscosity fluids with elasticity can modify the flow fields of the self-assembled magnetic swimmers. Our findings reveal that flow asymmetry can be created for symmetric swimmers through either the confinement effect or the Weissenberg effect. For pseudo-chiral swimmers in shear-thinning fluids, only three bead swimmers show swimming enhancement, while four bead swimmers always have a decreased step-out frequency velocity compared to their dynamics in water. 

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