Supplemental material for the paper

“Experimental demonstration of the dynamics and stability

of a low Reynolds number swimmer near a plane wall”

by Sebastian Zhang, Yizhar Or and Richard M. Murray,

submitted to ACC 2010 PDF available here

Video files

Motion experiments of low-Re swimming on macro-scale prototypes

Conducted at the laboratory of autonomous vehicles of Prof. Murray, Caltech.

First swimmer prototype with two rotating cylinders:

Swimmer1_front.wmv – Front view of swimming in the middle of the tank, equal angular velocities

Swimmer1_Straight.wmv – top view of swimming in the middle of the tank, equal angular velocities

Swimmer1_wall.wmv – swimming near a wall, equal angular velocities

Second swimmer prototype with two rotating cylinders:

Swimmer2_Straight.wmv – swimming in the middle of the tank, equal angular velocities

Swimmer2_wall.wmv – swimming near a wall, equal angular velocities

Swimmer2_Periodic.wmv – swimming near a wall, unequal angular velocities, periodic motion

Third swimmer prototype with 2+1 cylinders:

(Two rotating, one fixed)

Swimmer3_2+1_parallel.wmv – swimming near a wall, unequal angular velocities, parallel motion

Swimmer3_2+1_periodic.wmv– swimming near a wall unequal angular velocities, periodic motion (decaying)

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