Swimming Through Sand: Although composed of solid particles, sand can behave like a fluid. If you had to swim through sand, how would you do it? Would you use your arms and legs for propulsion or would you make your body as compact as possible and try to wiggle and slither your way through? Maladen et al. (p. 314 ) used x-ray imaging to study the motion of sandfish lizards as they burrowed into sand. The sandfish lizard does not use its limbs, but instead flattens them against its body and uses large-amplitude traveling wave oscillation of its body to propel itself. Modeling can explain the motion the lizard uses to propel itself through a medium that is neither liquid nor solid.

We integrate biological experiment, empirical theory, numerical simulation and a physical model to reveal principles of undulatory locomotion in granular media. High-speed X-ray imaging of the sandfish lizard, Scincus scincus, in 3 mm glass particles shows that it swims within the medium without using its limbs by propagating a single-period travelling sinusoidal wave down its body, resulting in a wave efficiency, η, the ratio of its average forward speed to the wave speed, of approximately 0.5. A resistive force theory (RFT) that balances granular thrust and drag forces along the body predicts η close to the observed value. We test this prediction against two other more detailed modelling approaches: a numerical model of the sandfish coupled to a discrete particle simulation of the granular medium, and an undulatory robot that swims within granular media. Using these models and analytical solutions of the RFT, we vary the ratio of undulation amplitude to wavelength (A/λ) and demonstrate an optimal condition for sand-swimming, which for a given A results from the competition between η and λ. The RFT, in agreement with the simulated and physical models, predicts that for a single-period sinusoidal wave, maximal speed occurs for A/λ ≈ 0.2, the same kinematics used by the sandfish.

Laboratory experiments and numerical simulation reveal that a submerged intruder dragged horizontally at a constant velocity within a granular medium experiences a lift force whose sign and magnitude depend on the intruder shape. Comparing the stress on a flat plate at varied inclination angle with the local surface stress on the intruders at regions with the same orientation demonstrates that intruder lift forces are well approximated as the sum of contributions from flat-plate elements. The plate stress is deduced from the force balance on the flowing media near the plate.

Artificial microswimmers offer exciting opportunities for biomedical applications. The goal of these synthetics is to swim like natural micro‐organisms through biological environments and perform complex tasks such as drug delivery and microsurgery. Extensive efforts in the past several decades have focused on generating propulsion at the microscopic scale, which has engendered a variety of artificial microswimmers based on different physical and physicochemical mechanisms. Yet, these major advancements represent only the initial steps toward successful biomedical applications of microswimmers in realistic scenarios. A next step is to design “smart” microswimmers that can adapt their locomotion behaviors in response to environmental factors. Herein, recent progress in the development of microswimmers with intelligent behaviors is surveyed in three major areas: 1) adaptive locomotion across different media, 2) tactic behaviors in response to environment stimuli, and 3) multifunctional swimmers that can perform complex tasks. The emerging technologies and novel approaches used in developing these “smart” microswimmers, which enable them to display behaviors similar to biological cells, are discussed.

We use a three-dimensional computational model to study the fluid transport and mixing due to the beating of an infinite array of cilia. In accord with recent experiments, we observe two distinct regions: a fluid transport region above the cilia and a fluid mixing region below the cilia tip. The metachronal wave due to phase differences between neighbouring cilia is known to enhance the fluid transport above the ciliary tip. In this work, we show that the metachronal wave also enhances the mixing rates in the sub-ciliary region, often simultaneously with the flow rate enhancement. Our results suggest that this simultaneous enhancement in transport and mixing is due to an enhancement in shear flow. As the flow above the cilia increases, the shear rate in the fluid increases and this shear enhances stretching, which is an essential ingredient for mixing. Estimates of the mixing time scale indicate that, compared to diffusion, the mixing due to the cilia beat may be significant and sometimes dominates chemical diffusion.

A previous study of a sand-swimming lizard, the sandfish, revealed that it swims within granular media at speeds up to 0.4 body-lengths/cycle using body undulations (approximately a single period sinusoidal traveling wave) without limb use. Inspired by the organism, we develop a numerical model of a robot swimming in a simulated granular medium to guide the design of a physical device. Both in simulation and experiment the robot swims limblessly subsurface at speeds up to 0.3 body-lengths/cycle and, like the animal, increases its speed by increasing its oscillation frequency. The performance of the robot measured in terms of its wave efficiency η, the ratio of its forward speed to wave speed, is 0.34 ± 0.02, within 8% of the simulation prediction. Both in simulation and experiment, η increases with increasing particle—particle friction but decreases with increasing body—particle friction. On a flat, rigid surface the robot fails to move forward, as expected, due to the frictional isotropy between the interacting surfaces. However, the surface and subsurface performance of the robot on low friction particles are comparable. Our work provides a validated simulation tool and the design of a robot that can move on or within yielding terrestrial substrates.