The idealized problem of swimming—the self-propulsion phenomenon whereby a cyclic change of shape of a ‘swimmer’ produces a net movement—is well studied for the case of a very viscous incompressible liquid. The opposite limit of zero viscosity, the ideal or ‘Euler’ fluid, has also received some attention. There remain to be articulated and explored some points of principle, set here in the context of the Euler fluid in two dimensions, though partly common to both limits and to both two and three dimensions. (i) Perhaps surprisingly, both limits are purely geometric effects, ‘holonomies’, not dependent on any timings or rates, but only on the sequence of shapes adopted by the swimmer. (ii) A principle fully determining swimming in a Euler fluid is simply stated: the fluid moves at every moment so as to minimize the sum of its and the swimmer's kinetic energy. (iii) Euler swimming would be solvable explicitly were it not for the standard impasse of potential theory: to find the boundary normal derivative of a function obeying Laplace's equation given its value around the boundary (or vice versa). As usual more analytical progress is possible in two dimensions (by complexifying) than three, but full tractability still requires the extreme of slight, rapid swimming strokes, and a simple example is given. In both limits, for a non-symmetrical swimming stroke, a rotation or orientation holonomy accompanies the translational one—the swimmer has turned somewhat as well as translated. The whole holonomy is non-Abelian (the order of the shape sequence matters), but (iv) for two dimensions the rotation part is Abelian. A benefit (albeit cosmetic) is that the one-stroke displacement and turning can be written down as a complex line integral. (v) Another benefit is that while Stokes's theorem (in shape space) is normally sacrificed in non-Abelian holonomies, a partial recovery of the theorem is possible in two-dimensional swimming. To illustrate this last principle, a completely solvable case is analyzed: that of a Euler fluid where the swimmer's shape is fixed but its internal mass distribution varies cyclically.
Read full abstract