arXiv subjects

Jayant Pande

Publications and source records attributed to Jayant Pande.

11 recordsLinked to original sources

arXiv2025

Physics-informed digital twin and onboard control of a brainbot for intelligent active matter

Establishing adaptive particles that sense their state, anticipate their evolution, and compute control inputs onboard has been a major challenge in non-equilibrium physics. We address this challenge by realizing an autonomous brainbot, building on a recently developed programmable bristlebot. First, we construct a physics-informed digital twin of the device, based on a kinematic model that reproduces measured trajectory statistics and generates long, statistically faithful synthetic trajectories. The kinematics forms the foundation for implementing onboard model predictive control (MPC), enabling autonomous trajectory tracking, demonstrated by accurate execution of a non-trivial target path. This provides a proof of principle for a brainbot that senses its state, predicts its evolution, and computes control inputs onboard, unlike conventional active particles with fixed motility, thereby transforming the brainbot into an agentic physical entity. By integrating physical modeling, data-driven parameter identification, and control into a unified framework, our approach provides a scalable platform for machine-learning-enabled multi-agent studies and lays the groundwork for intelligent, adaptive active matter.

cond-mat.soft↗

arXiv2020

Taming the diffusion approximation through a controlling-factor WKB method

The diffusion approximation (DA) is widely used in the analysis of stochastic population dynamics, from population genetics to ecology and evolution. DA is an uncontrolled approximation that assumes the smoothness of the calculated quantity over the relevant state space and fails when this property is not satisfied. This failure becomes severe in situations where the direction of selection switches sign. Here we employ the WKB (large-deviations) method, which requires only the logarithm of a given quantity to be smooth over its state space. Combining the WKB scheme with asymptotic matching techniques, we show how to derive the diffusion approximation in a controlled manner and how to produce better approximations, applicable for much wider regimes of parameters. We also introduce a scalable (independent of population size) WKB-based numerical technique. The method is applied to a central problem in population genetics and evolution, finding the chance of ultimate fixation in a zero-sum, two-types competition.

q-bio.PE↗

arXiv2020

Population dynamics in stochastic environments

Populations are made up of an integer number of individuals and are subject to stochastic birth-death processes whose rates may vary in time. Useful quantities, like the chance of ultimate fixation, satisfy an appropriate difference (master) equation, but closed-form solutions of these equations are rare. Analytical insights in fields like population genetics, ecology and evolution rely, almost exclusively, on an uncontrolled application of the diffusion approximation (DA) which assumes the smoothness of the relevant quantities over the set of integers. Here we combine asymptotic matching techniques with a first-order (controlling-factor) WKB method to obtain a theory whose range of applicability is much wider. This allows us to rederive DA from a more general theory, to identify its limitations, and to suggest alternative analytical solutions and scalable numerical techniques when it fails. We carry out our analysis for the calculation of the fixation probability in a fluctuating environment, highlighting the difference between (on average) deleterious and beneficial mutant invasion and the intricate distinction between weak and strong selection.

q-bio.PE↗

arXiv2019

Optimal motion of triangular magnetocapillary swimmers

A system of ferromagnetic particles trapped at a liquid-liquid interface and subjected to a set of magnetic fields (magnetocapillary swimmers) is studied numerically using a hybrid method combining the pseudopotential lattice Boltzmann method and the discrete element method. After investigating the equilibrium properties of a single, two and three particles at the interface, we demonstrate a controlled motion of the swimmer formed by three particles. It shows a sharp dependence of the average center-of-mass speed on the frequency of the time-dependent external magnetic field. Inspired by experiments on magnetocapillary microswimmers, we interpret the obtained maxima of the swimmer speed by the optimal frequency centered around the characteristic relaxation time of a spherical particle. It is also shown that the frequency corresponding to the maximum speed grows and the maximum average speed decreases with increasing inter-particle distances at moderate swimmer sizes. The findings of our lattice Boltzmann simulations are supported by bead-spring model calculations.

cond-mat.soft↗

arXiv2017

Asymptotic expansions of the hypergeometric function with two large parameters $-$ application to the partition function of a lattice gas in a field of traps

The canonical partition function of a two-dimensional lattice gas in a field of randomly placed traps, like many other problems in physics, evaluates to the Gauss hypergeometric function ${}_2F_1(a,b;c;z)$ in the limit when one or more of its parameters become large. This limit is difficult to compute from first principles, and finding the asymptotic expansions of the hypergeometric function is therefore an important task. While some possible cases of the asymptotic expansions of ${}_2F_1(a,b;c;z)$ have been provided in the literature, they are all limited by a narrow domain of validity, either in the complex plane of the variable or in the parameter space. Overcoming this restriction, we provide new asymptotic expansions for the hypergeometric function with two large parameters, which are valid for the entire complex plane of $z$ except for a few specific points. We show that these expansions work well even when we approach the possible singularity of ${}_2F_1(a,b;c;z)$, $|z|=1$, where the current expansions typically fail. Using our results we determine asymptotically the partition function of a lattice gas in a field of traps in the different possible physical limits of few/many particles and few/many traps, illustrating the applicability of the derived asymptotic expansions of the HGF in physics.

math-ph↗

arXiv2016

Effect of body deformability on microswimming

In this work we consider the following question: given a mechanical microswimming mechanism, does increased deformability of the swimmer body hinder or promote the motility of the swimmer? To answer this we study a microswimmer model composed of deformable beads connected with springs. We determine the velocity of the swimmer analytically, starting from the forces driving the motion and assuming that the oscillations in the effective radii of the beads are known and are much smaller than the radii themselves. We find that to the lowest order, only the driving frequency mode of the surface oscillations contributes to the swimming velocity, and that this velocity may both rise and fall with the deformability of the beads depending on the spring constant. To test these results, we run immersed boundary lattice Boltzmann simulations of the swimmer, and show that they reproduce both the velocity-promoting and velocity-hindering effects of bead deformability correctly in the predicted parameter ranges. Our results mean that for a general swimmer, its elasticity determines whether passive deformations of the swimmer body, induced by the fluid flow, aid or oppose the motion.

physics.bio-ph↗

arXiv2016

Setting the pace of microswimmers: when increasing viscosity speeds up self-propulsion

It has long been known that some microswimmers seem to swim counter-intuitively faster when the viscosity of the surrounding fluid is increased, whereas others slow down. This conflicting dependence of the swimming velocity on the viscosity is poorly understood theoretically. Here we explain that any mechanical microswimmer with an elastic degree of freedom in a simple Newtonian fluid can exhibit both kinds of response to an increase in the fluid viscosity for different viscosity ranges, if the driving is weak. The velocity response is controlled by a single parameter $\varGamma$, the ratio of the relaxation time of the elastic component of the swimmer in the viscous fluid and the swimming stroke period. This defines two velocity-viscosity regimes, which we characterize using the bead-spring microswimmer model and analyzing the different forces acting on the parts of this swimmer. The analytical calculations are supported by lattice-Boltzmann simulations, which accurately reproduce the two velocity regimes for the predicted values of $\varGamma$.

cond-mat.soft↗

arXiv2016

Microswimming with inertia

Microswimmers, especially in theoretical treatments, are generally taken to be completely inertia-free, since inertial effects on their motion are typically small and assuming their absence simplifies the problem considerably. Yet in nature there is no discrete break between swimmers for which inertia is negligibly small and for which it is detectable. Here we study a microswimming model for which the effect of inertia is calculated explicitly in the regime of transition between the Stokesian and the non-Stokesian flow limits, which we term the intermediate regime. The model in the inertialess limit is the bead-spring swimmer. We first show that in the intermediate regime a mechanical microswimmer exhibits damped inertial coasting like an underdamped harmonic oscillator. We then calculate analytically the swimmer's velocity by including a mass-acceleration term in the equations of motion which are otherwise based on the Stokes flow. We show that this hybrid treatment combining aspects of underdamped and overdamped dynamics provides an accurate description of the motion in the intermediate regime, as verified here by comparison to simulations using the lattice Boltzmann method, and is a significant improvement over the results from the inertialess theory when either the mass of the swimmer or the forces driving its motion is/are large enough.

cond-mat.soft↗

arXiv2014

Optimal shapes of artificial bead-spring micro-carriers at low Reynolds numbers

Bead-based micro-swimmers are promising systems for payload delivery on the micro-scale. However, the principles underlying their optimal design are not yet fully understood. Here we study a simple device consisting of three arbitrarily-shaped beads connected by two springs. We analytically determine the most favorable kinematic parameters for sinusoidal driving, and show how the swimmer changes from being a pusher to a puller. For cargo carrying ellipsoidal beads, we perform geometric optimization under the constraint of a constant total volume or surface area, with the aim of maximizing the device transport velocity and efficiency. Interestingly, we identify two major transport regimes, which arise from the competition between the elastic and the drag forces faced by the swimmer. We construct a phase diagram that indicates when the fastest swimming emerges because of minimized drag, and when due to heightened interactions among the beads.

physics.flu-dyn↗

arXiv2013

Druid, event display for the linear collider

Druid is a dedicated event display designed for the future electron positron linear colliders. Druid takes standard linear collider data files and detector geometry description files as input, it can visualize both physics event and detector geometry. Many displaying options are provided by Druid, giving easy access to different information. As a versatile event display, Druid supports all the latest linear collider detector models, Silicon Detector and International Large Detector, as well as the calorimeter prototypes operated in the CALICE test beam experiments. It has been utilized in many studies such as the verification of detector geometry, analysis of the simulated full events and test beam data as well as reconstruction algorithm development and code debugging.

physics.ins-det↗

arXiv2011

All good things come in threes - Three beads learn to swim with lattice Boltzmann and a rigid body solver

We simulate the self-propulsion of devices in a fluid in the regime of low Reynolds numbers. Each device consists of three bodies (spheres or capsules) connected with two damped harmonic springs. Sinusoidal driving forces compress the springs which are resolved within a rigid body physics engine. The latter is consistently coupled to a 3D lattice Boltzmann framework for the fluid dynamics. In simulations of three-sphere devices, we find that the propulsion velocity agrees well with theoretical predictions. In simulations where some or all spheres are replaced by capsules, we find that the asymmetry of the design strongly affects the propelling efficiency.

cs.CE↗