Slender Body Theory Research Articles

The method of fundamental solutions for multi-particle Stokes flows: Application to a ring-like array of spheres

A method is presented for calculating Stokes flow around multiple particles of arbitrary shape. It uses the Method of Fundamental Solutions (MFS) applied to single particles, combined with an iterative scheme to resolve the many particle-particle hydrodynamic interactions; an approach that is reminiscent of the Method of Reflections. The attractive features of the proposed method are inherited from the MFS — simplicity and accuracy — while providing orders of magnitude computational speed-up for large particle systems. The method is verified through a series of test cases, including those involving strong lubrication forces and non-spherical particles. Unlike applications of the Method of Reflections reported in the literature, the iterative scheme we propose (a block Gauss-Seidel approach to solving a particle-particle interaction matrix) converges for all the cases we consider, for both resistance and mobility problems. The scheme is applied to the study of Stokes flow around ring-like arrays of spheres. We show that the relationship between globally applied velocity or force to the response of individual spheres can be described by just 5 coefficients (or 9 in total) for any given configuration. The results indicate that for 7–10 spheres in sedimentation, there exists a certain spacing that produces steady-state translation of the ring, independent of its orientation. For large numbers of spheres, slender-body theory can be applied to the problem, providing remarkably close agreement to the numerical results over a wide range of parameters.

The nonlinear behavior of generic tail fins for small wind turbines

This paper describes analysis and measurements of the yaw response of tail fins for small wind turbines. It is based on an extension of unsteady slender body theory (USBT) to cover non-slender fins and high angles of incidence, both of which make the theory nonlinear. We provide three main additions to the substantial literature on linearized USBT for tail fins. First, USBT is extended to high angles by modeling the nonlinear vortex dynamics. Second, the restriction to slender bodies is removed by modeling the chordwise load variation. Third, we consider the effect of time-varying wind speed. The extended theory is compared to wind tunnel measurements of the yaw behavior of delta, elliptical, and rectangular tail fins without a rotor and nacelle. The fins were released from initial yaw angles of −40° and −80°; the latter is of sufficient magnitude to show the importance of the nonlinear yaw dynamics. Generally good agreement was found between the theory and measurements, and the theory was shown to be more accurate than a “polar” or quasi-steady model which uses only the lift and drag of a delta planform. Of the three planforms, the rectangular one showed the lowest accuracy in terms of frequency but the damping was accurately predicted. Overall, the results demonstrate the importance of nonlinearity in the response of a yawing tail fin, particularly for the higher aspect ratio fins at large yaw angles.

Swimming in viscoplastic fluids

Abstract Locomotion at small scales in the absence of inertia is a classical and enduring research topic. Here, recent developments in the theory of such locomotion through a viscoplastic ambient fluid are reviewed and explored. The specific focus here applies to motion of cylindrical filamentary bodies that are long and thin, for which an asymptotic slender-body theory can be exploited. Details of this theory are summarised and then applied to describe different swimming waveforms: undulation, peristalsis, and helical motion. It is shown that, in general, strong force anisotropy close to the limit of axial cylindrical motion has a significant effect on locomotion in viscoplastic media, allowing for highly efficient motion in which the swimmer is able to ‘cut’ through the material following very closely the path of its own axis. Some qualitative comparison with experiments is presented, and future extensions and research directions are reviewed. Graphical abstract Deformation fields around cylinders moving at different angles to their axis through a yield stress fluid, showing (a) a low yield stress and (b) a high yield stress

Efficient convergent boundary integral methods for slender bodies

The interaction of fibers in a viscous (Stokes) fluid plays a crucial role in industrial and biological processes, such as sedimentation, rheology, transport, cell division, and locomotion. Numerical simulations generally rely on slender body theory (SBT), an asymptotic, nonconvergent approximation whose error blows up as fibers approach each other. Yet convergent boundary integral equation (BIE) methods which completely resolve the fiber surface have so far been impractical due to the prohibitive cost of layer-potential quadratures in such high aspect-ratio 3D geometries. We present a high-order Nyström quadrature scheme with aspect-ratio independent cost, making such BIEs practical. It combines centerline panels (each with a small number of poloidal Fourier modes), toroidal Green's functions, generalized Chebyshev quadratures, HPC parallel implementation, and FMM acceleration. We also present new BIE formulations for slender bodies that lead to well conditioned linear systems upon discretization. We test Laplace and Stokes Dirichlet problems, and Stokes mobility problems, for slender rigid closed fibers with (possibly varying) circular cross-section, at separations down to 1/20 of the slender radius, reporting convergence typically to at least 10 digits. We use this to quantify the breakdown of numerical SBT for close-to-touching rigid fibers. We also apply the methods to time-step the sedimentation of 512 loops with up to 1.65 million unknowns at around 7 digits of accuracy.

Viscous tubular-body theory for plane interfaces

Filaments are ubiquitous within the microscopic world, occurring in biological and industrial environments and displaying a varied dynamics. Their wide range of applications has spurred the development of a branch of asymptotics focused on the behaviour of filaments, called slender-body theory (SBT). Slender-body theories are computationally efficient and focus on the mechanics of an isolated fibre that is slender and not too curved. However, SBTs that work beyond these limits are needed to explore complex systems. Recently, we developed tubular-body theory (TBT), an approach like SBT that allows the hydrodynamic traction on any isolated fibre in a viscous fluid to be determined exactly. This paper extends TBT to model fibres near plane interfaces by performing a similar expansion on the single-layer boundary integrals (BIs) for bodies by a plane interface. This provides a well-behaved SBT inspired approach for fibres by interfaces with a similar versatility to the BIs but without the singular kernels. The derivation of the new theory, called tubular-body theory for interfaces (TBTi), also establishes a criterion for the convergence of the TBTi series representation. The TBTi equations are solved numerically using a approach similar to boundary element methods (BEMs), called TBTi-BEM, to investigate the properties of TBTi empirically. The TBTi-BEM is found to compare favourably with an existing BEM and the lubrication singularity on a sphere, suggesting TBTi is valid for all separations. Finally, we simulate the hydrodynamics of helices beneath a free interface and a plane wall to demonstrate the applicability of the technique.

The drag of a filament moving in a supported spherical bilayer

Many of the cell membrane's vital functions are achieved by the self-organization of the proteins and biopolymers embedded in it. The protein dynamics is in part determined by its drag. A large number of these proteins can polymerize to form filaments. In vitro studies of protein–membrane interactions often involve using rigid beads coated with lipid bilayers, as a model for the cell membrane. Motivated by this, we use slender-body theory to compute the translational and rotational resistance of a single filamentous protein embedded in the outer layer of a supported bilayer membrane and surrounded on the exterior by a Newtonian fluid. We first consider the regime where the two layers are strongly coupled through their inter-leaflet friction. We find that the drag along the parallel direction grows linearly with the filament's length and quadratically with the length for the perpendicular and rotational drag coefficients. These findings are explained using scaling arguments and by analysing the velocity fields around the moving filament. We then present and discuss the qualitative differences between the drag of a filament moving in a freely suspended bilayer and a supported membrane as a function of the membrane's inter-leaflet friction. Finally, we briefly discuss how these findings can be used in experiments to determine membrane rheology. In summary, we present a formulation that allows computation of the effects of membrane properties (its curvature, viscosity and inter-leaflet friction), and the exterior and interior three-dimensional fluids’ depth and viscosity on the drag of a rod-like/filamentous protein, all in a unified theoretical framework.

Cross-streamline migration and near-wall depletion of elastic fibers in micro-channel flows.

The complex dynamics of elastic fibers in viscous fluids are central to many biological and industrial systems. Fluid-structure interactions underlying these dynamics govern the shape and transport of flexible fibers, and understanding these interactions can help tune flow properties in applications such as microfluidic separation, printing and clogging. In this work, we use slender-body theory to study micromechanical dynamics that arise from the coupling between the elastic backbone of a fiber and the local straining flow that contributes to filament flipping and cross-streamline migration. The resulting transverse drift is unbiased in either direction in simple shear flow. However, a non-uniform shear rate results in bias towards regions of high shear, which we connect to the shape transitions during flips. We discover a depletion layer that forms near the boundaries of pressure-driven channel flow due to the competition between such a cross-streamline drift and steric exclusion from the walls. Finally, we develop scaling laws for the curvature of filaments during flip events, demonstrating the origin of the drift bias in non-uniform flows, and confirm this behavior from our simulations. Put together, these results shed light on the role of a local and dominant coupling between elasticity and viscous resistance in dictating long-term dynamics and transport of elastic fibers in confined flows.

Motion of an active bent rod with an articulating hinge: exploring mechanical and chemical modes of swimming

Swimming at the microscale typically involves two modes of motion: mechanical propulsion and propulsion due to field interactions. During mechanical propulsion, particles swim by reconfiguring their geometry. When propelled by field interactions, body forces such as phoretic interactions drive mobility. In this work, we employ slender-body theory to explore how a bent rod actuator propels due to a mechanical mode of swimming via hinge articulations and due to a chemical mode of swimming via diffusiophoretic interactions with a solute field. Although previous theoretical studies have examined mechanical and chemical modes of swimming in isolation, the simultaneous investigation of both modes has remained unexplored. For the mechanical mode of swimming, our calculations, both numerical and analytical, recover Purcell’s scallop theorem and show that the bent rod actuator experiences zero net displacement during reciprocal motion. Additionally, we calculate the trajectories traced by a bent rod actuator under a non-reciprocal hinge articulation, revealing that these trajectories are influenced by the amplitude of the hinge articulation, geometric asymmetry, and the angular velocity distribution between the two arms of the bent rod actuator. We provide intuitive explanations for these effects using free-body diagrams. Furthermore, we explore the motion induced by simultaneous hinge articulations and self-diffusiophoresis. We observe that hinge articulations can modify the effective phoretic forces and torques acting on the bent rod actuator, either supporting or impeding propulsion. Additionally, during self-diffusiophoretic propulsion, reciprocal hinge articulations no longer result in zero net displacement. In summary, our findings chart a new direction for designing micron-sized objects that harness both mechanical and chemical modes of propulsion synchronously, offering a mechanism to enact control over trajectories.

Rotation of a fibre in simple shear flow of a dilute polymer solution

The motion of a freely rotating prolate spheroid in a simple shear flow of a dilute polymeric solution is examined in the limit of large particle aspect ratio, $\kappa$ . A regular perturbation expansion in the polymer concentration, $c$ , a generalized reciprocal theorem, and slender body theory to represent the velocity field of a Newtonian fluid around the spheroid are used to obtain the $O(c)$ correction to the particle's orientational dynamics. The resulting dynamical system predicts a range of orientational behaviours qualitatively dependent upon $c\, De$ ( $De$ is the imposed shear rate times the polymer relaxation time) and $\kappa$ and quantitatively on $c$ . At a small but finite $c\, De$ , the particle spirals towards a limit cycle near the vorticity axis for all initial conditions. Upon increasing $\kappa$ , the limit cycle becomes smaller. Thus, ultimately the particle undergoes a periodic motion around and at a small angle from the vorticity axis. At moderate $c\, De$ , a particle starting near the flow–gradient plane departs it monotonically instead of spirally, as this plane (a limit cycle at smaller $c\, De$ ) obtains a saddle and an unstable node. The former is close to the flow direction. Upon further increasing $c\, De$ , the saddle node changes to a stable node. Therefore, depending upon the initial condition, a particle may either approach a periodic orbit near the vorticity axis or obtain a stable orientation near the flow direction. Upon further increasing $c\, De$ , the limit cycle near the vorticity axis vanishes, and the particle aligns with the flow direction for all starting orientations.

Finite difference method in prolate spheroidal coordinates for freely suspended spheroidal particles in linear flows of viscous and viscoelastic fluids

A finite difference scheme is used to develop a numerical method to solve the flow of an unbounded viscoelastic fluid with zero to moderate inertia around a prolate spheroidal particle. The equations are written in prolate spheroidal coordinates, and the shape of the particle is exactly resolved as one of the coordinate surfaces representing the inner boundary of the computational domain. As the prolate spheroidal grid is naturally clustered near the particle surface, good resolution is obtained in the regions where the gradients of relevant flow variables are most significant. This coordinate system also allows large domain sizes with a reasonable number of mesh points to simulate unbounded fluid around a particle. Changing the aspect ratio of the inner computational boundary enables simulations of different particle shapes ranging from a sphere to a slender fiber. Numerical studies of the latter particle shape allow testing of slender body theories. The mass and momentum equations are solved with a Schur complement approach allowing us to solve the zero inertia case necessary to isolate the viscoelastic effects. The singularities associated with the coordinate system are overcome using L'Hopital's rule. A straightforward imposition of conditions representing a time-varying combination of linear flows on the outer boundary allows us to study various flows with the same computational domain geometry. For the special but important case of zero fluid and particle inertia we obtain a novel formulation that satisfies the force- and torque-free constraint in an iteration-free manner. The numerical method is demonstrated for various flows of Newtonian and viscoelastic fluids around spheres and spheroids (including those with large aspect ratio). Good agreement is demonstrated with existing theoretical and numerical results.

Machine learning assisted resistive force theory for helical structures at low Reynolds number

The hydrodynamic forces on a slender rod in a fluid medium at low Reynolds number can be modeled using resistive force theories (RFTs) or slender body theories (SBTs). The former represent the forces by local drag coefficients and are computationally cheap; however, they are physically inaccurate when long-range hydrodynamic interaction is involved. The later are physically accurate but require solving integral equations and, therefore, are computationally expensive. This paper investigates RFTs in comparison with state-of-the art SBT methods. During the process, a neural network-based hydrodynamic model that – similar to RFTs – relies on local drag coefficients for computational efficiency was developed. However, the network is trained using data from an SBT (regularized stokeslet segments method). The R2 value of the trained coefficients were ∼0.99 with mean absolute error of 1.6×10−2. The machine learning resistive force theory (MLRFT) accounts for local hydrodynamic forces distribution, the dependence on rotational and translational speeds and directions, and geometric parameters of the slender object. We show that, when classical RFT fails to accurately predict the forces, torques, and drags on slender rods under low Reynolds number flows, MLRFT exhibits good agreement with physically accurate SBT simulations. In terms of computational speed, MLRFT forgoes the need of solving an inverse problem and, therefore, requires negligible computation time in comparison with SBT. MLRFT presents a computationally inexpensive hydrodynamic model for flagellar propulsion can be used in the design and optimization of biomimetic flagellated robots and analysis of bacterial locomotion.

Dynamics of a surfactant-laden viscoelastic thread in the presence of surface viscosity

As is known, the presence of surfactants can profoundly influence the dynamics of Newtonian viscous threads. Also, it is known that non-Newtonian viscoelastic threads behave differently from Newtonian ones, particularly in the nonlinear regime. A naturally arising question is how surfactants affect the dynamic behaviour of non-Newtonian viscoelastic threads. To gain some insights into it, we build a one-dimensional model for an Oldroyd-B/finitely extensible nonlinear elastic-Peterlin approximation (FENE-P) viscoelastic liquid thread covered with an insoluble surfactant monolayer based on the slender body theory. A parametric study is performed to examine the effects of the dimensionless numbers related to the surfactant, including the initial concentration, the Marangoni number, the surface Péclet number, the shear Boussinesq number and the dilatational Boussinesq number. It is found that the formation of the beads-on-a-string structure can be greatly delayed by the surfactant. At large values of the surface Péclet number, the exponential thinning of the Oldroyd-B viscoelastic thread is little influenced, but the surfactant may lead to the disappearance of secondary droplets. At moderate values of the surface Péclet number, the surfactant induces the formation of secondary droplets. The primary droplets are axially stretched by the Marangoni or surface viscous stresses and evolve into a prolate or a more singular shape eventually. The surfactant can delay the pinch-off of the FENE-P viscoelastic thread to a great extent, but it affects little the decrease in the minimum thread radius prior to pinch-off when the surface Péclet number is large.

Particle orbiting constrained by elastic filament as a model cilium for fluid pumping

Many microorganisms use cilia to propel themselves in low Reynolds number ( $Re$ ) environments. In this work, we study the dynamics of a composite cilium consisting of an elastic filament and a spherical particle attached at the filament tip driven by an external time-periodic force acting on the particle. The elastic filament is modelled numerically using a slender body theory with hydrodynamic interactions. When tilted at a large angle from the normal direction of the wall, the filament buckles, and the induced velocity field by the cilium shows a large net flux. By varying the tilt angle or the force amplitude, the particle trajectory and the net flux display abrupt changes along with a reversal of the buckling direction. We further demonstrate through a segmental model that the abrupt changes arise from the deviation of the cilium orientation at the start of the recovery stroke from the natural orientation. Our results suggest a simple approach to engineering particle motions and designing artificial cilia for fluid pumping in low $Re$ environments.

Resistive-force theory of slender bodies in viscosity gradients

In many natural settings, spatial variations in a fluid's viscosity arise due to changes in its local physico-chemical environment. We consider the low-Reynolds-number dynamics of slender bodies in fluids with a linearly varying viscosity. Assuming the spatial change in viscosity to be small compared to the spatial deviation of the body but large relative to the body's aspect ratio, we derive the modifications to resistive-force theory in a fluid due to a constant viscosity gradient. At leading order in the body slenderness, the results are identical to the classical theory in a constant-viscosity fluid but with the viscosity taking everywhere its local, non-constant value. At next order in slenderness, non-local terms arise due to the non-zero viscosity gradient. We use our results to predict the motion of straight and toroidal filaments settling under the action of gravity. We show that viscosity gradients induce rigid-body rotation of the filaments at a rate proportional to the components of the gradients along the filaments. This result contrasts with constant-viscosity fluids where the filaments do not rotate. We demonstrate further that if the viscosity gradient acts in the direction opposite to the gravitational field, then the filaments rotate towards a stable orientation, whose value depends on the ratio between the viscosity gradients parallel and perpendicular to the gravitational field; otherwise, the filaments align in the direction of the gravitational field. Our work shows that viscosity gradients can exert new forces on slender bodies, which could, for example, be used to control their orientation and drift.

Accelerated second-order hydrodynamic load calculation on semi-submersible floaters

A rapid method for calculation of second-order hydrodynamic wave loads on semi-submersible platforms is developed and validated against radiation–diffraction theory. The method is based on slender-body theory and builds on modal truncation of the quadratic transfer function (QTF). The semi-submersible floater is split into individual members and the existing theory for vertical cylindrical columns is extended to include the heave force. Further expressions for the surge, heave and pitch load on the horizontal pontoons are derived and implemented. The accuracy of the method is assessed by comparison to radiation–diffraction results using the Pinkster approximation. We find that the slender-body approximation for the column surge force is most accurate for small values of the diameter-to-draft ratio. For the three sea states considered, this error is below 10% for diameter-to-draft ratios less than 0.2.Error analysis is provided for the column heave and pitch and the pontoon loads. For all members, application of 128 modes in the QTF approximation is found sufficient to accurately represent the full slender-body QTF solution.Next, the first- and second-order loads on the full floater under different sea state conditions are compared to radiation–diffraction theory. With 128 modes, the second-order loads are obtained 2500 times faster than with conventional approaches with error levels of 22% for surge, 10% for pitch and zero error for heave. The surge error is discussed and linked to the small draft of the columns. The numerical efficiency of the method allows the consideration of second-order loads in the first stages of the design and optimisation of semi-submersible floaters.

Effect of curvature on the diffusion of colloidal bananas.

Anisotropic colloidal particles exhibit complex dynamics which play a crucial role in their functionality, transport, and phase behavior. In this Letter, we investigate the two-dimensional diffusion of smoothly curved colloidal rods-also known as colloidal bananas-as a function of their opening angle α. We measure the translational and rotational diffusion coefficients of the particles with opening angles ranging from 0^{∘} (straight rods) to nearly 360^{∘}(closed rings). In particular, we find that the anisotropic diffusion of the particles varies nonmonotonically with their opening angle and that the axis of fastest diffusion switches from the long to the short axis of the particles when α>180^{∘}. We also find that the rotational diffusion coefficient of nearly closed rings is approximately an order of magnitude higher than that of straight rods of the same length. Finally, we show that the experimental results are consistent with slender body theory, indicating that the dynamical behavior of the particles arises primarily from their local drag anisotropy. These results highlight the impact of curvature on the Brownian motion of elongated colloidal particles, which must be taken into account when seeking to understand the behavior of curved colloidal particles.

Shear rheology of a dilute suspension of thin rings

The rheology of suspensions of rings (tori) rotating in an unbounded low Reynolds number simple shear flow is calculated using numerical simulations at dilute particle number densities ( n ≪ 1 ). Suspensions of non-Brownian rings are studied by computing pair interactions that include hydrodynamic interactions modeled using slender body theory and particle collisions modeled using a short-range repulsive force. Particle contact and hydrodynamic interactions were found to have comparable influences on the steady-state Jeffery orbit distribution. The average tilt of the ring away from the flow-vorticity plane increased during pairwise interactions compared to the tilt associated with Jeffery rotation and the steady-state orbit distribution. Particle stresses associated with the increased tilt during the interaction were found to be comparable to the stresses induced directly by particle contact forces and the hydrodynamic velocity disturbances of other particles. The hydrodynamic diffusivity coefficients in the gradient and vorticity directions were also obtained and were found to be two orders of magnitude larger than the corresponding values in fiber suspensions at the same particle concentrations. Rotary Brownian dynamics simulations of isolated Brownian rings were used to understand the shear rate dependence of suspension rheology. The orbit distribution observed in the regime of weak Brownian motion, P e ≫ ϕ T − 3, was surprisingly similar to that obtained from pairwise interaction calculations of non-Brownian rings. Here, the Peclet number P e is the ratio of the shear rate and the rotary diffusivity of the particle and ϕ T is the effective inverse-aspect ratio of the particle (approximately equal to 2 π times the inverse of its non-dimensional Jeffery time period). Thus, the rheology results obtained from pairwise interactions should retain accuracy even for weakly Brownian rings ( n ≪ 1 and ϕ T − 3 ≪ P e ).

Inertial loads on a finite-length cylinder embedded in a steady uniform flow

In this work, we numerically investigate the loads on a finite-length cylinder embedded in a steady flow. We demonstrate that Khayat \ Cox (JFM 1989) slender-body theory can predict with reasonable accuracy the drag force on the cylinder for a large range of aspect ratios. However, for moderately long cylinders, this theory is not accurate in predicting lift force and torque. Therefore, we develop semi-empirical models based on small but finite inertia theory to improve the match between our numerical predictions and theoretical results. Finally, we compare our entire model, with experimental data on settling cylinders.

Hydrodynamic slender-body theory for local rotation at zero Reynolds number

Slender objects are commonplace in microscale flow problems, from soft deformable sensors to biological filaments such as flagella and cilia. Whilst much research has focussed on the local translational motion of these slender bodies, relatively little attention has been given to local rotation, even though it can be the dominant component of motion. In this study, we explore a classically motivated ansatz for the Stokes flow around a rotating slender body via superposed rotlet singularities, which leads us to pose an alternative ansatz that accounts for both translation and rotation. Through an asymptotic analysis that is supported by numerical examples, we determine the suitability of these flow ansatzes for capturing the fluid velocity at the surface of a slender body, assuming local axisymmetry of the object but allowing the cross-sectional radius to vary with arclength. In addition to formally justifying the presented slender-body ansatzes, this analysis reveals a markedly simple relation between the local angular velocity and the torque exerted on the body, which we term resistive torque theory. Though reminiscent of classical resistive force theories, this local relation is found to be algebraically accurate in the slender-body aspect ratio, even when translation is present, and is valid and required whenever local rotation contributes to the surface velocity at leading asymptotic order.

Flow-induced buckling of elastic microfilaments with non-uniform bending stiffness

Buckling plays a critical role in the transport and dynamics of elastic microfilaments in Stokesian fluids. However, previous work has only considered filaments with homogeneous structural properties. Filament backbone stiffness can be non-uniform in many biological systems like microtubules, where the association and disassociation of proteins can lead to spatial and temporal changes into structure. The consequences of such non-uniformities in the configurational stability and transport of these fibers are yet unknown. Here, we use slender-body theory and Euler-Bernoulli elasticity coupled with various non-uniform bending rigidity profiles to quantify this buckling instability using linear stability analysis and Brownian simulations. In shear flows, we observe more pronounced buckling in areas of reduced rigidity in our simulations. These areas of marked deformations give rise to differences in the particle extra stress, indicating a non-trivial rheological response due to the presence of these filaments. The fundamental mode shapes arising from each rigidity profile are consistent with the predictions from our linear stability analysis. Collectively, these results suggest that non-uniform bending rigidity can drastically alter fluid-structure interactions in physiologically relevant settings, providing a foundation to elucidate the complex interplay between hydrodynamics and the structural properties of biopolymers.