## M. Zoppello - M. Morandotti - H. Bloomfield-GadÃªlha

# Controlling non-controllable scallops

created by morandott on 30 Nov 2021

[

BibTeX]

*preprint*

**Inserted:** 30 nov 2021

**Last Updated:** 30 nov 2021

**Year:** 2021

**Abstract:**

Any swimmer embedded on a inertialess fluid must perform a non-reciprocal
motion to swim forward. The archetypal demonstration of this unique
motion-constraint was introduced by Purcell with the so-called "scallop
theorem". Scallop here is a minimal mathematical model of a swimmer composed by two arms connected via a hinge whose periodic motion (of opening and closing
its arms) is not sufficient to achieve net displacement. Any source of incongruence on the motion or in the forces and torques experienced by such
time-reversible scallop will break the symmetry imposed by the Stokes linearity
and lead to subsequent propulsion of the scallop. However, little is known
about the controllability of time-reversible scalloping systems. Here, we
consider two individually non-controllable scallops swimming together. Under a
suitable geometric assumption on the configuration of the system, it is proved
that non-zero net displacement can be achieved as a consequence of their
hydrodynamic interaction. A detailed analysis of the control system of
equations is carried out analytically by means of geometric control theory. We
obtain an analytic expression for the the displacement after a prescribed sequence of controls in function of the phase difference of the two scallops.
Numerical validation of the theoretical results is presented with model
predictions in further agreement with the literature.