In this dissertation we study the interactions between free bodies and unsteady viscous flows, with particular interest in locomotion and in particle transport in streami[...]

Mathematical models for the self-propulsion of articulated bodies in fluids at low Reynolds number can be interpreted geometrically in terms of connections in principal b[...]

This dissertation introduces new models for the locomotion and control of mechanical and hydrodynamic systems that exhibit symmetry, constraints, and control. I introduc[...]

Chaotic systems are a class of nonlinear dynamical systems that have captured the attention of mathematicians and engineers for long. Even though chaotic systems are dete[...]

Viscous phenomena can be used to aid in the locomotion and control of robotic systems. With the aid of Lagrangian reduction techniques, it is shown that dissipation can [...]