Swarm behavior of self-propelled rods and swimming flagella

Derivation and simulation of a computational model of active cell populations: How overlap avoidance, deformability, cell-cell junctions and cytoskeletal forces affect alignment

Collective alignment of cell populations is a commonly observed phenomena in biology. An important example are aligning fibroblasts in healthy or scar tissue. In this work we derive and simulate a mechanistic agent-based model of the collective behaviour of actively moving and interacting cells, with a focus on understanding collective alignment. The derivation strategy is based on energy minimisation. The model ingredients are motivated by data on the behaviour of different populations of aligning fibroblasts and include: Self-propulsion, overlap avoidance, deformability, cell-cell junctions and cytoskeletal forces. We find that there is an optimal ratio of self-propulsion speed and overlap avoidance that maximises collective alignment. Further we find that deformability aids alignment, and that cell-cell junctions by themselves hinder alignment. However, if cytoskeletal forces are transmitted via cell-cell junctions we observe strong collective alignment over large spatial scales.

Phase separation kinetics and cluster dynamics in two-dimensional active dumbbell systems

Molecular dynamics simulations were employed to investigate the phase separation process of a two-dimensional active Brownian dumbbell model. We evaluated the time dependence of the typical size of the dense component using the scaling properties of the structure factor, along with the averaged number of clusters and their radii of gyration. The growth observed is faster than in active disk models, and this effect is further enhanced under stronger activity. Next, we focused on studying the hexatic order of the clusters. The length associated with the orientational order increases algebraically with time and faster than for spherical active Brownian particles. Under weak active forces, most clusters exhibit a uniform internal orientational order. However, under strong forces, large clusters consist of domains with different orientational orders. We demonstrated that the latter configurations are not stable, and given sufficient time to evolve, they eventually achieve homogeneous configurations as well. No gas bubbles are formed within the clusters, even when there are patches of different hexatic order. Finally, attention was directed towards the geometry and motion of the clusters themselves. By employing a tracking algorithm, we showed that clusters smaller than the typical size at the observation time exhibit regular shapes, while larger ones display fractal characteristics. In between collisions or break-ups, the clusters behave as solid bodies. Their centers of mass undergo circular motion, with radii increasing with the cluster size. The angular velocity of the center of mass equals that of the constituents with respect to their center of mass. These observations were rationalised with a simple mechanical model.

Purcell's swimmers in pairs

We investigate the effects of hydrodynamic interactions between microorganisms swimming at low Reynolds numbers, treating them as a control system. We employ Lie brackets analysis to examine the motion of two neighboring three-link swimmers interacting through the ambient fluid in which they propel themselves. Our analysis reveals that the hydrodynamic interaction has a dual consequence: on one hand, it diminishes the system's efficiency; on the other hand, it dictates that the two microswimmers must synchronize their motions to attain peak performance. Our findings are further corroborated by numerical simulations of the governing equations of motion.

Bridging the gap between collective motility and epithelial-mesenchymal transitions through the active finite voronoi model

We introduce an active version of the recently proposed finite Voronoi model of epithelial tissue. The resultant Active Finite Voronoi (AFV) model enables the study of both confluent and non-confluent geometries and transitions between them, in the presence of active cells. Our study identifies six distinct phases, characterized by aggregation-segregation, dynamical jamming-unjamming, and epithelial-mesenchymal transitions (EMT), thereby extending the behavior beyond that observed in previously studied vertex-based models. The AFV model with rich phase diagram provides a cohesive framework that unifies the well-observed progression to collective motility via unjamming with the intricate dynamics enabled by EMT. This approach should prove useful for challenges in developmental biology systems as well as the complex context of cancer metastasis. The simulation code is also provided.

Multi-particle collision dynamics for a coarse-grained model of soft colloids applied to ring polymers

The simulation of polymer solutions often requires the development of methods that accurately include hydrodynamic interactions. Resolution on the atomistic scale is too computationally expensive to cover mesoscopic time and length scales on which the interesting polymer phenomena are observed. Therefore, coarse-graining methods have to be applied. In this work, the solvent is simulated using the well-established multi-particle collision dynamics scheme, and for the polymer, different coarse-graining methods are employed and compared against the monomer resolved Kremer-Grest model by their resulting diffusion coefficients. This research builds on previous work [Ruiz-Franco et al., J. Chem. Phys. 151, 074902 (2019)], in which star polymers and linear chains in a solvent were simulated and two different coarse-graining methods were developed, in order to increase computational efficiency. The present work extends this approach to ring polymers and seeks to refine one of the authors' proposed model: the penetrable soft colloid model. It was found that both proposed models are not well suited to ring polymers; however, the introduction of a factor to the PSC model delivers satisfying results for the diffusion behavior by regulating the interaction intensity with the solvent.

Capture and transport of rod-shaped cargo via programmable active particles

We study the influence of the cargo shape on the capture and transport process of colloidal rods via swarms of active particles using Brownian dynamics simulations. Starting at random initial conditions, active particles that interact via the Lennard-Jones potential and possess a tuneable speed are utilised to capture passive rods inside a hexagonal cage of individually addressable units. By adjusting the velocity of the individual active particles, the rod can then be transported. To guarantee a successful capture process (with a strong localisation), we find that specific geometric and energetic constraints have to be met; i.e., the length of the rod must approximately be in the vicinity of an odd multiple of the lattice constant of the hexagonal cage, and the Lennard-Jones interaction strength must be in the range of [Formula: see text] to [Formula: see text]. If the cargo aspect ratio gets too large, the subsequent transport of successfully captured rods can fail. For systems where transport is possible, an increase in the cargo aspect ratio decreases the achievable transport velocity. Our work shows that the particle shape must be considered while designing interaction rules to accomplish specific tasks via groups of controllable units.

Hydrodynamic clustering of two finite-length flagellated swimmers in viscoelastic fluids

Clustering of flagellated microswimmers such as sperm is often mediated by hydrodynamic interactions between them. To better understand the interaction of microswimmers in viscoelastic fluids, we perform two-dimensional simulations of two swimming sheets, using a viscoelastic version of the smoothed dissipative particle dynamics method that implements the Oldroyd-B fluid model. Elasticity of sheets (stiff versus soft) defines two qualitatively different regimes of clustering, where stiff sheets exhibit a much more robust clustering than soft sheets. A formed doublet of soft sheets generally swims faster than a single swimmer, while a pair of two stiff sheets normally shows no speed enhancement after clustering. A pair of two identical swimmers is stable for most conditions, while differences in the beating amplitudes and/or frequencies between the two sheets can destroy the doublet stability. Clustering of two distinct swimmers is most stable at Deborah numbers of De = τω ≈ 1 (τ is the relaxation time of a viscoelastic fluid and ω is the beating frequency), in agreement with experimental observations. Therefore, the clustering of two swimmers depends non-monotonically on De. Our results suggest that the cluster stability is likely a dominant factor which determines the cluster size of collectively moving flagellated swimmers.

Collective vortical motion and vorticity reversals of self-propelled particles on circularly patterned substrates

The collective behavior of self-propelled particles (SPPs) under the combined effects of a circularly patterned substrate and circular confinement is investigated through coarse-grained molecular dynamics simulations of polarized and disjoint ring polymers. The study is performed over a wide range of values of the SPPs packing fraction ϕ[over ¯], motility force F_{D}, and area fraction of the patterned region. At low packing fractions, the SPPs are excluded from the system's center and exhibit a vortical motion that is dominated by the substrate at intermediate values of F_{D}. This exclusion zone is due to the coupling between the driving force and torque induced by the substrate, which induces an outward spiral motion of the SPPs. For high values of F_{D}, the SPPs exclusion from the center is dominated by the confining boundary. At high values of ϕ[over ¯], the substrate pattern leads to reversals in the vorticity, which become quasiperiodic with increasing ϕ[over ¯]. We also found that the substrate pattern is able to separate SPPs based on their motilities.

Obstacle-induced giant jammed aggregation of active semiflexible filaments

Filaments driven by bound motor proteins and chains of self-propelled colloidal particles are a typical example of active polymers (APs). Due to deformability, APs exhibit very rich dynamic behaviors and collective assembling structures. Here, we are concerned with a basic question: how APs behave near a single obstacle? We find that, in the presence of a big single obstacle, the assembly of APs becomes a two-state system, i.e. APs either gather nearly completely together into a giant jammed aggregate (GJA) on the surface of the obstacle or distribute freely in space. No partial aggregation is observed. Such a complete aggregation/collection is unexpected since it happens on a smooth convex surface instead of, e.g., a concave wedge. We find that the formation of a GJA experiences a process of nucleation and the curves of the transition between the GJA and the non-aggregate state form hysteresis-like loops. Statistical analysis of massive data on the growing time, chirality and angular velocity of both the GJAs and the corresponding nuclei shows the strong random nature of the phenomenon. Our results provide new insights into the behavior of APs in contact with porous media and also a reference for the design and application of polymeric active materials.

Emergent collective dynamics of pusher and puller squirmer rods: swarming, clustering, and turbulence

We study the interplay of steric and hydrodynamic interactions in suspensions of elongated microswimmers by simulating the full hydrodynamics of squirmer rods in the quasi two-dimensional geometry of a Hele-Shaw cell. To create pusher or puller-type squirmer rods, we concentrate the surface slip-velocity field more to the back or to the front of the rod and thereby are able to tune the rod's force-dipole strength. We study a wide range of aspect ratios and area fractions and provide corresponding state diagrams. The flow field of pusher-type squirmer rods destabilizes ordered structures and favors the disordered state at small area fractions and aspect ratios. Only when steric interactions become relevant, we observe a turbulent and dynamic cluster state, while for large aspect ratios a single swarm and jammed cluster occurs. The power spectrum of the turbulent state shows two distinct energy cascades at small and large wave numbers with power-law scaling and non-universal exponents. Pullers show a strong tendency to form swarms instead of the disordered state found for neutral and pusher rods. At large area fractions a dynamic cluster is observed and at larger aspect ratio a single swarm or jammed cluster occurs.

Group formation and collective motion of colloidal rods with an activity triggered by visual perception

We investigate the formation of cohesive groups and the collective diffusion of colloidal spherocylinders with a motility driven by a simple visual perception model. For this, we perform Brownian dynamics simulations without hydrodynamic interactions. The visual perception is based on sight cones attached to the spherocylinders and perception functions quantifying the visual stimuli. If the perception function of a particle reaches a predefined threshold, an active component is added to its motion. We find that, in addition to the opening angle of the cone of sight, the aspect ratio of the particles plays an important role for the formation of cohesive groups. If the elongation of the particles is increased, the maximum angle for which the rods organize themselves into such groups decreases distinctly. After a system forms a cohesive group, it performs a diffusive motion, which can be quantified by an effective diffusion coefficient. For increasing aspect ratios, the spatial expansion of the cohesive groups and the effective diffusion coefficient of the collective motion increase, while the number of active group members decreases. We also find that a larger particle number, a smaller propulsion velocity of the group members, and a smaller threshold for the visual stimulus increase the maximum opening angle for which cohesive groups form. Based on our results, we expect anisotropic particles to be of great relevance for the adjustability of visual perception-dependent motility.

Bacterial active matter

Bacteria are among the oldest and most abundant species on Earth. Bacteria successfully colonize diverse habitats and play a significant role in the oxygen, carbon, and nitrogen cycles. They also form human and animal microbiota and may become sources of pathogens and a cause of many infectious diseases. Suspensions of motile bacteria constitute one of the most studied examples of active matter: a broad class of non-equilibrium systems converting energy from the environment (e.g., chemical energy of the nutrient) into mechanical motion. Concentrated bacterial suspensions, often termed active fluids, exhibit complex collective behavior, such as large-scale turbulent-like motion (so-called bacterial turbulence) and swarming. The activity of bacteria also affects the effective viscosity and diffusivity of the suspension. This work reports on the progress in bacterial active matter from the physics viewpoint. It covers the key experimental results, provides a critical assessment of major theoretical approaches, and addresses the effects of visco-elasticity, liquid crystallinity, and external confinement on collective behavior in bacterial suspensions.

Lateral contact yields longitudinal cohesion in active undulatory systems

Many animals and robots move using undulatory motion of their bodies. When the bodies are in close proximity undulatory motion can lead to novel collective behavior such as gait synchronization, spatial reconfiguration, and clustering. Here we study the role of contact interactions between model undulatory swimmers: three-link robots in experiment and multilink swimmers in simulation. The undulatory gait of each swimmer is generated through a time-dependent sinusoidal-like waveform which has a fixed phase offset, ϕ. By varying the phase relationship between neighboring swimmers we seek to study how contact forces and planar configurations are governed by the phase difference between neighboring swimmers. We find that undulatory actuation in close proximity drives neighboring swimmers into planar equilibrium configurations that depend on the actuation phase difference. We propose a model for stable planar configurations of nearest-neighbor undulatory swimmers which we call the gait compatibility condition, which is the set of planar and phase configurations in which no collisions occur. Robotic experiments with two, three, and four swimmers exhibit good agreement with the compatibility model. To study the contact forces and the time-averaged equilibrium between undulatory systems we perform simulations. To probe the interaction potential between undulatory swimmers we apply a small force to each swimmer longitudinally to separate them from the compatible configuration and we measure their steady-state displacement. These studies reveal that undulatory swimmers in close proximity exhibit attractive longitudinal interaction forces that drive the swimmers from incompatible to compatible configurations. This system of undulatory swimmers provides new insight into active-matter systems which move through body undulation. In addition to the importance of velocity and orientation coherence in active-matter swarms, we demonstrate that undulatory phase coherence is also important for generating stable, cohesive group configurations.

Collective motion of cells modeled as ring polymers

In this article, we use a coarse-grained model of disjoint semi-flexible ring polymers to investigate computationally the spatiotemporal collective behavior of cell colonies. A ring polymer in this model is self-propelled by a motility force along the cell's polarity, which depends on its historical kinetics. Despite the repulsive interaction between the cells, a collective behavior sets in as a result of cells pushing against each other. This cooperative motion emerges as the amplitude of the motility force is increased and/or their areal density is increased. The degree of collectivity, characterized by the average cluster size, the velocity field order parameter, and the polarity field nematic order parameter, is found to increase with increasing the amplitude of the motility force and area coverage of the cells. Furthermore, the degree of alignment exhibited by the cell velocity field within a cluster is found to be stronger than that exhibited by the cell polarity. Comparison between the collective behavior of elongated cells and that of circular cells, at the same area coverage and motility force, shows that elongated cells exhibit a stronger collective behavior than circular cells, in agreement with earlier studies of self-propelled anisotropic particles. An investigation of two-cell collisions shows that while two clustered cells move in tandem, their polarities are misaligned. As such the cells push against each other while moving coherently.

Absolute negative mobility of active polymer chains in steady laminar flows

We investigate the transport of active polymer chains in steady laminar flows in the presence of thermal noise and an external constant force. In the model, the polymer chain is worm-like and is propelled by active forces along its tangent vectors. Compared with inertial Brownian particles, active polymer chains in steady laminar flows exhibit richer movement patterns due to their specific spatial structures. The simulation results show that the velocity-force relation is strongly dependent on the system parameters such as the chain length, bending rigidity, active force and so on. The polymer chain may move in some preferential movement directions and exhibits absolute negative mobility within appropriate parameter regimes, i.e., the polymer chain can move in a direction opposite to the external constant force. In particular, we can observe giant negative mobility in a broad range of parameter regimes.

Understanding topological defects in fluidized dry active nematics

Dense assemblies of self-propelling rods (SPRs) may exhibit fascinating collective behaviors and anomalous physical properties that are far away from equilibrium. Using large-scale Brownian dynamics simulations, we investigate the dynamics of disclination defects in 2D fluidized swarming motions of dense dry SPRs (i.e., without hydrodynamic effects) that form notable local positional topological structures that are reminiscent of smectic order. We find the deformations of smectic-like rod layers can create unique polar structures that lead to slow translations and rotations of ±1/2-order defects, which are fundamentally different from the fast streaming defect motions observed in wet active matter. We measure and characterize the statistical properties of topological defects and reveal their connections with the coherent structures. Furthermore, we construct a bottom-up active-liquid-crystal model to analyze the instability of polar lanes, which effectively leads to defect formation between interlocked polar lanes and serves as the origin of the large-scale swarming motions.

Particle anisotropy tunes emergent behavior in active colloidal systems

Studies of active particle systems have demonstrated that particle anisotropy can impact the collective behavior of a system, motivating a systematic study. Here, we report a systematic computational investigation of the role of anisotropy in shape and active force director on the collective behavior of a two-dimensional active colloidal system. We find that shape and force anisotropy can combine to produce critical densities both lower and higher than those of disks. We demonstrate that changing particle anisotropy tunes what we define as a "collision efficiency" of inter-particle collisions in leading to motility-induced phase separation (MIPS) of the system. We use this efficiency to determine the relative critical density across systems. Additionally, we observe that local structure in phase-separated clusters is the same as the particle's equilibrium densest packing, suggesting a general connection between equilibrium behavior and non-equilibrium cluster structure of self-propelled anisotropic particles. In engineering applications for active colloidal systems, shape-controlled steric interactions such as those described here may offer a simple route for tailoring emergent behaviors.

Heating leads to liquid-crystal and crystalline order in a two-temperature active fluid of rods

We report phase separation and liquid-crystal ordering induced by scalar activity in a system of soft repulsive spherocylinders (SRSs) of shape anisotropy L/D=5 using molecular dynamics (MD) simulations. Activity is introduced by increasing the temperature of half of the SRSs (labeled hot) while maintaining the temperature of the other half constant at a lower value (labeled cold). The difference between the two temperatures scaled by the lower temperature provides a measure of the activity. Starting from different equilibrium initial phases, we find that activity leads to segregation of the hot and cold particles. Activity also drives the cold particles through a phase transition to a more ordered state and the hot particles to a state of less order compared to the initial equilibrium state. The cold components of a homogeneous isotropic structure acquire nematic and, at higher activity, crystalline order. Similarly, the cold zone of a nematic initial state undergoes smectic and crystal ordering above a critical value of activity while the hot component turns isotropic. We find that the hot particles occupy a larger volume and exert an extra kinetic pressure, confining, compressing, and provoking an ordering transition of the cold-particle domains.

Multi-particle collision dynamics with a non-ideal equation of state. II. Collective dynamics of elongated squirmer rods

Simulations of flow fields around microscopic objects typically require methods that both solve the Navier-Stokes equations and also include thermal fluctuations. One such method popular in the field of soft-matter physics is the particle-based simulation method of multi-particle collision dynamics (MPCD). However, in contrast to the typically incompressible real fluid, the fluid of the traditional MPCD methods obeys the ideal-gas equation of state. This can be problematic because most fluid properties strongly depend on the fluid density. In a recent article, we proposed an extended MPCD algorithm and derived its non-ideal equation of state and an expression for the viscosity. In the present work, we demonstrate its accuracy and efficiency for the simulations of the flow fields of single squirmers and of the collective dynamics of squirmer rods. We use two exemplary squirmer-rod systems for which we compare the outcome of the extended MPCD method to the well-established MPCD version with an Andersen thermostat. First, we explicitly demonstrate the reduced compressibility of the MPCD fluid in a cluster of squirmer rods. Second, for shorter rods, we show the interesting result that in simulations with the extended MPCD method, dynamic swarms are more pronounced and have a higher polar order. Finally, we present a thorough study of the state diagram of squirmer rods moving in the center plane of a Hele-Shaw geometry. From a small to large aspect ratio and density, we observe a disordered state, dynamic swarms, a single swarm, and a jammed cluster, which we characterize accordingly.

Modelling Motility: The Mathematics of Spermatozoa

In one of the first examples of how mechanics can inform axonemal mechanism, Machin's study in the 1950s highlighted that observations of sperm motility cannot be explained by molecular motors in the cell membrane, but would instead require motors distributed along the flagellum. Ever since, mechanics and hydrodynamics have been recognised as important in explaining the dynamics, regulation, and guidance of sperm. More recently, the digitisation of sperm videomicroscopy, coupled with numerous modelling and methodological advances, has been bringing forth a new era of scientific discovery in this field. In this review, we survey these advances before highlighting the opportunities that have been generated for both recent research and the development of further open questions, in terms of the detailed characterisation of the sperm flagellum beat and its mechanics, together with the associated impact on cell behaviour. In particular, diverse examples are explored within this theme, ranging from how collective behaviours emerge from individual cell responses, including how these responses are impacted by the local microenvironment, to the integration of separate advances in the fields of flagellar analysis and flagellar mechanics.

Pattern formation and polarity sorting of driven actin filaments on lipid membranes

Pattern formation processes in active systems give rise to a plethora of collective structures. Predicting how the emergent structures depend on the microscopic interactions between the moving agents remains a challenge. By introducing a high-density actin gliding assay on a fluid membrane, we demonstrate the emergence of polar structures in a regime of nematic binary interactions dominated by steric repulsion. The transition from a microscopic nematic symmetry to a macroscopic polar structure is linked to microscopic polarity sorting mechanisms, including accumulation in wedge-like topological defects. Our results should be instrumental for a better understanding of pattern formation and polarity sorting processes in active matter.

Collective motion of active matter is ubiquitously observed, ranging from propelled colloids to flocks of bird, and often features the formation of complex structures composed of agents moving coherently. However, it remains extremely challenging to predict emergent patterns from the binary interaction between agents, especially as only a limited number of interaction regimes have been experimentally observed so far. Here, we introduce an actin gliding assay coupled to a supported lipid bilayer, whose fluidity forces the interaction between self-propelled filaments to be dominated by steric repulsion. This results in filaments stopping upon binary collisions and eventually aligning nematically. Such a binary interaction rule results at high densities in the emergence of dynamic collectively moving structures including clusters, vortices, and streams of filaments. Despite the microscopic interaction having a nematic symmetry, the emergent structures are found to be polar, with filaments collectively moving in the same direction. This is due to polar biases introduced by the stopping upon collision, both on the individual filaments scale as well as on the scale of collective structures. In this context, positive half-charged topological defects turn out to be a most efficient trapping and polarity sorting conformation.

Multi-ciliated microswimmers-metachronal coordination and helical swimming

The dynamics and motion of multi-ciliated microswimmers with a spherical body and a small number N (with [Formula: see text]) of cilia with length comparable to the body radius, is investigated by mesoscale hydrodynamics simulations. A metachronal wave is imposed for the cilia beat, for which the wave vector has both a longitudinal and a latitudinal component. The dynamics and motion is characterized by the swimming velocity, its variation over the beat cycle, the spinning velocity around the main body axis, as well as the parameters of the helical trajectory. Our simulation results show that the microswimmer motion strongly depends on the latitudinal wave number and the longitudinal phase lag. The microswimmers are found to swim smoothly and usually spin around their own axis. Chirality of the metachronal beat pattern generically generates helical trajectories. In most cases, the helices are thin and stretched, i.e., the helix radius is about an order of magnitude smaller than the pitch. The rotational diffusion of the microswimmer is significantly smaller than the passive rotational diffusion of the body alone, which indicates that the extended cilia contribute strongly to the hydrodynamic radius. The swimming velocity is found to increase with the cilia number N with a slightly sublinear power law, consistent with the behavior expected from the dependence of the transport velocity of planar cilia arrays on the cilia separation.

Preferred penetration of active nano-rods into narrow channels and their clustering

In a channel connected to a reservoir, passive particles prefer staying in the reservoir than the channel due to the entropic effect, as the size of the particles is comparable to that of the channel. Self-propelled rods can exhibit out-of-equilibrium phenomena, and their partition behavior may differ from that of passive rods due to their persistent swimming ability. In this work, the distribution of active nano-rods between the nanoscale channel and reservoir is explored using dissipative particle dynamics. The ratio of the nano-rod concentration in the slit to that in the reservoir, defined as the partition ratio Ψ, is a function of active force, channel width, and rod length. Although passive nano-rods prefer staying in bulk (Ψ < 1), active rods can overcome the entropic barrier and show favorable partition toward narrow channels (Ψ > 1). As the slit width decreases to about the rod's width, active rods entering the slit behave like a quasi-two-dimensional system dynamically. At sufficiently high concentrations and Peclet numbers, nano-rods tend to align and move together in the same direction for a certain time. The distribution (PM) of the cluster size (M) follows a power law, PM ∝ M-2, for small clusters.

Collective motion of driven semiflexible filaments tuned by soft repulsion and stiffness

In active matter systems, self-propelled particles can self-organize to undergo collective motion, leading to persistent dynamical behavior out of equilibrium. In cells, cytoskeletal filaments and motor proteins form complex structures important for cell mechanics, motility, and division. Collective dynamics of cytoskeletal systems can be reconstituted using filament gliding experiments, in which cytoskeletal filaments are propelled by surface-bound motor proteins. These experiments have observed diverse dynamical states, including flocks, polar streams, swirling vortices, and single-filament spirals. Recent experiments with microtubules and kinesin motor proteins found that the collective behavior of gliding filaments can be tuned by altering the concentration of the crowding macromolecule methylcellulose in solution. Increasing the methylcellulose concentration reduced filament crossing, promoted alignment, and led to a transition from active, isotropically oriented filaments to locally aligned polar streams. This emergence of collective motion is typically explained as an increase in alignment interactions by Vicsek-type models of active polar particles. However, it is not yet understood how steric interactions and bending stiffness modify the collective behavior of active semiflexible filaments. Here we use simulations of driven filaments with tunable soft repulsion and rigidity in order to better understand how the interplay between filament flexibility and steric effects can lead to different active dynamic states. We find that increasing filament stiffness decreases the probability of filament alignment, yet increases collective motion and long-range order, in contrast to the assumptions of a Vicsek-type model. We identify swirling flocks, polar streams, buckling bands, and spirals, and describe the physics that govern transitions between these states. In addition to repulsion and driving, tuning filament stiffness can promote collective behavior, and controls the transition between active isotropic filaments, locally aligned flocks, and polar streams.

Collective dynamics of sperm cells

While only a single sperm may fertilize the egg, getting to the egg can be facilitated, and possibly enhanced, by sperm group dynamics. Examples range from the trains formed by wood mouse sperm to the bundles exhibited by echidna sperm. In addition, observations of wave-like patterns exhibited by ram semen are used to score prospective sample fertility for artificial insemination in agriculture. In this review, we discuss these experimental observations of collective dynamics, as well as describe recent mechanistic models that link the motion of individual sperm cells and their flagella to observed collective dynamics. Establishing this link in models involves negotiating the disparate time- and length scales involved, typically separated by a factor of 1000, to capture the dynamics at the greatest length scales affected by mechanisms at the shortest time scales. Finally, we provide some outlook on the subject, in particular, the open questions regarding how collective dynamics impacts fertility. This article is part of the theme issue 'Multi-scale analysis and modelling of collective migration in biological systems'.

An attraction-repulsion transition of force on two asymmetric wedges induced by active particles

Effective interaction between two asymmetric wedges immersed in a two-dimensional active bath is investigated by computer simulations. The attraction–repulsion transition of effective force between two asymmetric wedges is subjected to the relative position of two wedges, the wedge-to-wedge distance, the active particle density, as well as the apex angle of two wedges. By exchanging the position of the two asymmetric wedges in an active bath, firstly a simple attraction–repulsion transition of effective force occurs, completely different from passive Brownian particles. Secondly the transition of effective force is symmetric for the long-range distance between two asymmetric wedges, while it is asymmetric for the short-range case. Our investigations may provide new possibilities to govern the motion and assembly of microscopic objects by taking advantage of the self-driven behaviour of active particles.

Entrainment of mammalian motile cilia in the brain with hydrodynamic forces

Motile cilia are widespread across the animal and plant kingdoms, displaying complex collective dynamics central to their physiology. Their coordination mechanism is not generally understood, with previous work mainly focusing on algae and protists. We study here the entrainment of cilia beat in multiciliated cells from brain ventricles. The response to controlled oscillatory external flows shows that flows at a similar frequency to the actively beating cilia can entrain cilia oscillations. We find that the hydrodynamic forces required for this entrainment strongly depend on the number of cilia per cell. Cells with few cilia (up to five) can be entrained at flows comparable to cilia-driven flows, in contrast with what was recently observed in Chlamydomonas Experimental trends are quantitatively described by a model that accounts for hydrodynamic screening of packed cilia and the chemomechanical energy efficiency of the flagellar beat. Simulations of a minimal model of cilia interacting hydrodynamically show the same trends observed in cilia.

From scalar to polar active matter: Connecting simulations with mean-field theory

We study numerically the phase behavior of self-propelled elliptical particles interacting through the "hard" repulsive Gay-Berne potential at infinite Péclet number. Changing a single parameter, the aspect ratio, allows us to continuously go from discoid active Brownian particles to elongated polar rods. Discoids show phase separation, which changes to a cluster state of polar domains, which then form polar bands as the aspect ratio is increased. From the simulations, we identify and extract the two effective parameters entering the mean-field description: the force imbalance coefficient and the effective coupling to the local polarization. These two coefficients are sufficient to obtain a complete and consistent picture, unifying the paradigms of scalar and polar active matter.

Gliding filament system giving both global orientational order and clusters in collective motion

Emergence and collapse of coherent motions of self-propelled particles are affected more by particle motions and interactions than by their material or biological details. In the reconstructed systems of biofilaments and molecular motors, several types of collective motion including a global-order pattern emerge due to the alignment interaction. Meanwhile, earlier studies show that the alignment interaction of a binary collision of biofilaments is too weak to form the global order. The multiple collision is revealed to be important to achieve global order, but it is still unclear what kind of multifilament collision is actually involved. In this study, we demonstrate that not only alignment but also crossing of two filaments is essential to produce an effective multiple-particle interaction and the global order. We design the reconstructed system of biofilaments and molecular motors to vary a probability of the crossing of biofilaments on a collision and thus control the effect of volume exclusion. In this system, biofilaments glide along their polar strands on the turf of molecular motors and can align themselves nematically when they collide with each other. Our experiments show the counterintuitive result, in which the global order is achieved only when the crossing is allowed. When the crossing is prohibited, the cluster pattern emerges instead. We also investigate the numerical model in which we can change the strength of the volume exclusion effect and find that the global orientational order and clusters emerge with weak and strong volume exclusion effects, respectively. With those results and simple theory, we conclude that not only alignment but also finite crossing probability are necessary for the effective multiple-particles interaction forming the global order. Additionally, we describe the chiral symmetry breaking of a microtubule motion which causes a rotation of global alignment.

Spontaneous Velocity Alignment in Motility-Induced Phase Separation

We study a system of purely repulsive spherical self-propelled particles in the minimal setup inducing motility-induced phase separation (MIPS). We show that, even if explicit alignment interactions are absent, a growing order in the velocities of the clustered particles accompanies MIPS. Particles arrange into aligned or vortexlike domains whose size increases as the persistence of the self-propulsion grows, an effect that is quantified studying the spatial correlation function of the velocities. We explain the velocity alignment by unveiling a hidden alignment interaction of the Vicsek-like form, induced by the interplay between steric interactions and self-propulsion.

Defect dynamics in clusters of self-propelled rods in circular confinement

Rod-shaped active micro/nano-particles, such as bacterial and bipolar metallic micro/nano-motors, demonstrate novel collective phenomena far from the equilibrium state compared to passive particles. We apply a simulation approach --dissipative particle dynamics (DPD)-- to explore the collectively ordered states of self-propelled rods (SPRs). The SPRs are confined in a finite circular zone and repel each other when two rods touch each other. It is found that for a long enough rods system, the global vortex patterns, dynamic pattern oscillation between hedgehog pattern and vortex pattern, and hedgehog patterns are observed successively with increasing active force F_a. For the vortex pattern, the total interaction energy between the rods U is linear with active force F_a, i.e., U ∼ F_a . While the relation U ∼ F_a² is obtained for the hedgehog structure. It is observed that a new hedgehog pattern with one defect core is created by two ejections of polar cluster in opposite directions from the original hedgehog pattern, and then merges into one through the diffusion of the two aggregates, i.e., the creation and annihilation of topological charges.

Clustering and anisotropic correlated percolation in polar flocks

We study clustering and percolation phenomena in the Vicsek model, taken here in its capacity of prototypical model for dry aligning active matter. Our results show that the order-disorder transition is not related in any way to a percolation transition, contrary to some earlier claims. We study geometric percolation in each of the phases at play, but we mostly focus on the ordered Toner-Tu phase, where we find that the long-range correlations of density fluctuations give rise to an anisotropic percolation transition.

Dynamics near planar walls for various model self-phoretic particles

For chemically active particles suspended in a liquid solution and moving by self-phoresis, the dynamics near chemically inert, planar walls is studied theoretically by employing various choices for the activity function, i.e., the spatial distribution of the sites where various chemical reactions take place. We focus on the case of solutions composed of electrically neutral species. This analysis extends previous studies of the case that the chemical activity can be modeled effectively as the release of a "product" molecular species from parts of the surface of the particle by accounting for annihilation of the product molecules by chemical reactions, either on the rest of the surface of the particle or in the volume of the surrounding solution. We show that, for the models considered here, the emergence of "sliding" and "hovering" wall-bound states is a generic, robust feature. However, the details of these states, such as the range of parameters within which they occur, depend on the specific model for the activity function. Additionally, in certain cases there is a reversal of the direction of the motion compared to the one observed if the particle is far away from the wall. We have also studied the changes of the dynamics induced by a direct interaction between the particle and the wall by including a short-ranged repulsive component to the interaction in addition to the steric one (a procedure often employed in numerical simulations of active colloids). Upon increasing the strength of this additional component, while keeping its range fixed, significant qualitative changes occur in the phase portraits of the dynamics near the wall: for sufficiently strong short-ranged repulsion, the sliding steady states of the dynamics are transformed into hovering states. Furthermore, our studies provide evidence for an additional "oscillatory" wall-bound steady state of motion for chemically active particles due to a strong, short-ranged, and direct repulsion. This kind of particle translates along the wall at a distance from it which oscillates between a minimum and a maximum.

Lattice Boltzmann methods and active fluids

We review the state of the art of active fluids with particular attention to hydrodynamic continuous models and to the use of Lattice Boltzmann Methods (LBM) in this field. We present the thermodynamics of active fluids, in terms of liquid crystals modelling adapted to describe large-scale organization of active systems, as well as other effective phenomenological models. We discuss how LBM can be implemented to solve the hydrodynamics of active matter, starting from the case of a simple fluid, for which we explicitly recover the continuous equations by means of Chapman-Enskog expansion. Going beyond this simple case, we summarize how LBM can be used to treat complex and active fluids. We then review recent developments concerning some relevant topics in active matter that have been studied by means of LBM: spontaneous flow, self-propelled droplets, active emulsions, rheology, active turbulence, and active colloids.

From flagellar undulations to collective motion: predicting the dynamics of sperm suspensions

Swimming cells and microorganisms are as diverse in their collective dynamics as they are in their individual shapes and propulsion mechanisms. Even for sperm cells, which have a stereotyped shape consisting of a cell body connected to a flexible flagellum, a wide range of collective dynamics is observed spanning from the formation of tightly packed groups to the display of larger-scale, turbulence-like motion. Using a detailed mathematical model that resolves flagellum dynamics, we perform simulations of sperm suspensions containing up to 1000 cells and explore the connection between individual and collective dynamics. We find that depending on the level of variation in individual dynamics from one swimmer to another, the sperm exhibit either a strong tendency to aggregate, or the suspension exhibits large-scale swirling. Hydrodynamic interactions govern the formation and evolution of both states. In addition, a quantitative analysis of the states reveals that the flows generated at the time scale of flagellum undulations contribute significantly to the overall energy in the surrounding fluid, highlighting the importance of resolving these flows.

Flow and clogging of particles in shaking random obstacles

Transport of three types of particles (passive particles, active particles, and polar particles) is investigated in a random obstacle array in the presence of a dc drift force. The obstacles are static or synchronously shake along the given direction. When the obstacles are static, the average velocity is a peaked function of the dc drift force (negative differential mobility) for low particle density, while the average velocity monotonically increases with the dc drift force (positive differential mobility) for high particle density. Under the same conditions, passive particles are most likely to pass through the obstacles, while polar particles are easily trapped by the obstacles. The polar alignment can strongly reduce the overall mobility of particles. When the obstacles shake along the given direction, the optimal shaking frequency or amplitude can maximize the average velocity. It is more effective to reduce clogging for the transverse shaking than that for the longitudinal shaking.

Collective oscillation in dense suspension of self-propelled chiral rods

Active particles capable of self-propulsion commonly exhibit rich collective dynamics and have attracted increasing attention due to their applications in biology, robotics, social transport, and biomedicine. However, it remains unclear how the geometric features of active particles affect their collective behaviors. In this paper, we explore the collective dynamics of L-shaped active rods. We show that a dense suspension of self-propelled L-shaped rods exhibits fascinating non-equilibrium oscillatory dynamic clustering. A new oscillation phase can form due to distinct collisions and aggregation mechanisms arising from the L-shaped chirality of elements. A generic diagram of emerging states is provided over a wide range of geometric parameters. Our findings show that the comparative strength between the periodic separation and proximity effect from chirality and the alignment effect from elongated geometry drive the formation and transition of dynamic patterns. This chirality-triggered oscillation phase suggests a new route to understand active matter and paves a way for emerging applications.

Morphological and dynamical properties of semiflexible filaments driven by molecular motors

We consider an explicit model of a semiflexible filament moving in two dimensions on a gliding assay of motor proteins, which attach to and detach from filament segments stochastically, with a detachment rate that depends on the local load experienced. Attached motor proteins move along the filament to one of its ends with a velocity that varies nonlinearly with the motor protein extension. The resultant force on the filament drives it out of equilibrium. The distance from equilibrium is reflected in the end-to-end distribution, modified bending stiffness, and a transition to spiral morphology of the polymer. The local stress dependence of activity results in correlated fluctuations in the speed and direction of the center of mass leading to a series of ballistic-diffusive crossovers in its dynamics.

Reaction processes among self-propelled particles

We study a system of self-propelled disks that perform run-and-tumble motion, where particles can adopt more than one internal state. One of those internal states can be transmitted to other particle if the particle carrying this state maintains physical contact with another particle for a finite period of time. We refer to this process as a reaction process and to the different internal states as particle species, making an analogy to chemical reactions. The studied system may fall into an absorbing phase, where due to the disappearance of one of the particle species no further reaction can occur, or may remain in an active phase where particles constantly react. By combining individual-based simulations and mean-field arguments, we study the dependency of the equilibrium densities of particle species on motility parameters, specifically the active speed v₀ and tumbling frequency λ. We find that the equilibrium densities of particle species exhibit two very distinct, non-trivial scaling regimes, with v₀ and λ depending on whether the system is in the so-called ballistic or diffusive regime. Our mean-field estimates lead to an effective renormalization of reaction rates that allow building the phase-diagram v₀-λ that separates the absorbing and active phases. We find an excellent agreement between numerical simulations and mean-field estimates. This study is a necessary step towards an understanding of phase transitions into absorbing states in active systems and sheds light on the spreading of information/signaling among moving elements.

Transport of particles driven by the traveling obstacle arrays

Transport of three types of particles (passive particles, active particles without polar interaction, and active particles with polar interaction) is numerically investigated in the presence of traveling obstacle arrays. The transport behaviors are different for different types of particles. For passive particles, there exists an optimal traveling speed (or the translational diffusion) at which the average velocity of particles takes its maximum value. For active particles without polar interaction, the average velocity of particles is a peaked function of the obstacle traveling speed. The average velocity decreases monotonically with increase of the rotational diffusion for large driving speed, while it is a peaked function of the rotational diffusion for small driving speed. For active particles with polar interaction, interestingly, within particular parameter regimes, active particles can move in the opposite direction to the obstacles. The average velocity of particles can change its direction by changing the system parameters (the obstacles driving speed, the polar interaction strength, and the rotational diffusion).

Clustering of microswimmers: interplay of shape and hydrodynamics

The spatiotemporal dynamics in systems of active self-propelled particles is controlled by the propulsion mechanism in combination with various direct interactions, such as steric repulsion and hydrodynamics. These direct interactions are typically anisotropic, and come in different "flavors", such as spherical and elongated particle shapes, pusher and puller flow fields, etc. The combination of the various aspects is expected to lead to new emergent behavior. However, it is a priori not evident whether shape and hydrodynamics act synergistically or antagonistically to generate motility-induced clustering (MIC) and phase separation (MIPS). We employ a model of prolate spheroidal microswimmers-called squirmers-in quasi-two-dimensional confinement to address this issue by mesoscale hydrodynamic simulations. For comparison, non-hydrodynamic active Brownian particles (ABPs) are considered to elucidate the contribution of hydrodynamic interactions. For spherical particles, the comparison between ABPs and hydrodynamic-squirmer ensembles reveals a suppression of MIPS due to hydrodynamic interactions. Yet, our analysis shows that dynamic clusters exist, with a broad size distribution. The fundamental difference between ABPs and squirmers is attributed to an increased reorientation of squirmers by hydrodynamic torques during their collisions. In contrast, for elongated squirmers, hydrodynamics interactions enhance MIPS. The transition to a phase-separated state strongly depends on the nature of the swimmer's flow field-with an increased tendency toward MIPS for pullers, and a reduced tendency for pushers. Thus, hydrodynamic interactions show opposing effects on MIPS for spherical and elongated microswimmers, and details of the propulsion mechanism of biological microswimmers may be very important to determine their collective behavior.

Active dumbbells: Dynamics and morphology in the coexisting region

With the help of molecular dynamics simulations we study an ensemble of active dumbbells in purely repulsive interaction. We derive the phase diagram in the density-activity plane and we characterise the various phases with liquid, hexatic and solid character. The analysis of the structural and dynamical properties, such as enstrophy, mean-square displacement, polarisation, and correlation functions, shows the continuous character of liquid and hexatic phases in the coexisting region when the activity is increased starting from the passive limit.

Hydrodynamic Clustering of Human Sperm in Viscoelastic Fluids

We have numerically investigated sperm clustering behaviours, modelling cells as superpositions of regularised flow singularities, coarse-grained from experimentally obtained digital microscopy of human sperm, both in watery medium and a highly viscous-weakly elastic, methylcellulose medium. We find that the cell yaw and cell pulling dynamics inhibit clustering in low viscosity media. In contrast clustering is readily visible in simulations modelling sperm within a methylcellulose medium, in line with previous observations that bovine sperm clustering is much more prominent in a rheological polyacrylamide medium. Furthermore, the fine-scale details of sperm flagellar movement substantially impact large-scale collective behaviours, further motivating the need for the digital microscopy and characterization of sperm to understand their dynamics.

Clustering and phase separation of circle swimmers dispersed in a monolayer

We perform Brownian dynamics simulations in two dimensions to study the collective behavior of circle swimmers, which are driven by both, an (effective) translational and rotational self-propulsion, and interact via steric repulsion. We find that active rotation generally opposes motility-induced clustering and phase separation, as demonstrated by a narrowing of the coexistence region upon increase of the propulsion angular velocity. Moreover, although the particles are intrinsically assigned to rotate counterclockwise, a novel state of clockwise vortices emerges at an optimal value of the effective propulsion torque. We propose a simple gear-like model to capture the underlying mechanism of the clockwise vortices.

Collective behavior of self-propelled rods with quorum sensing

Active agents-like phoretic particles, bacteria, sperm, and cytoskeletal filaments in motility assays-show a large variety of motility-induced collective behaviors, such as aggregation, clustering, and phase separation. The behavior of dense suspensions of engineered phoretic particles and of bacteria during biofilm formation is determined by two qualitatively different physical mechanisms: (i) volume exclusion (short-range steric repulsion) and (ii) quorum sensing (longer-range reduced propulsion due to alteration of the local chemical environment). To systematically characterize such systems, we study semi-penetrable self-propelled rods in two dimensions, with a propulsion force that decreases with increasing local rod density, by employing Brownian dynamics simulations. Volume exclusion and quorum sensing both lead to phase separation; however, the structure of the systems and the rod dynamics vastly differ. Quorum sensing enhances the polarity of the clusters, induces perpendicularity of rods at the cluster borders, and enhances cluster formation. For systems where the rods essentially become passive at high densities, formation of asters and stripes is observed. Systems of rods with larger aspect ratios show more ordered structures compared to those with smaller aspect ratios, due to their stronger alignment, with almost circular asters for strongly density-dependent propulsion force. With increasing range of the quorum-sensing interaction, the local density decreases, asters become less stable, and polar hedgehog clusters and clusters with domains appear.

Isotropic-nematic transition of self-propelled rods in three dimensions

Using overdamped Brownian dynamics simulations we investigate the isotropic-nematic (IN) transition of self-propelled rods in three spatial dimensions. For two well-known model systems (Gay-Berne potential and hard spherocylinders) we find that turning on activity moves to higher densities the phase boundary separating an isotropic phase from a (nonpolar) nematic phase. This active IN phase boundary is distinct from the boundary between isotropic and polar-cluster states previously reported in two-dimensional simulation studies and, unlike the latter, is not sensitive to the system size. We thus identify a generic feature of anisotropic active particles in three dimensions.

Hydrodynamic interaction induced breakdown of the state properties of active fluids

The mechanical pressure of active fluids in which swimmers are modeled by soft run-and-tumble spheres is investigated by dissipative particle dynamics simulations. The incremental pressure (Π) with respect to the system pressure with inactive swimmers comprises the direct contribution of the swimmers (π) and the indirect contribution of fluids associated with hydrodynamic interactions (HIs). The pressure can be determined from the bulk and confining wall and the former is always less than the latter. The π of dilute active dispersions is proportional to their active diffusivity while Π grows generally with propulsive force and run time. However, Π is always substantially less than π because of negative contributions to pressure by HIs. The wall pressure depends on the swimmer-wall interactions, verifying that pressure is not a state function for active spheres due to the HIs. Owing to the distinct flow patterns, Π varies with the swim-type (pusher and puller) subject to the same run-and-tumble parameters at high concentrations.

Collective dynamics of self-propelled semiflexible filaments

The collective behavior of active semiflexible filaments is studied with a model of tangentially driven self-propelled worm-like chains. The combination of excluded-volume interactions and self-propulsion leads to several distinct dynamic phases as a function of bending rigidity, activity, and aspect ratio of individual filaments. We consider first the case of intermediate filament density. For high-aspect-ratio filaments, we identify a transition with increasing propulsion from a state of free-swimming filaments to a state of spiraled filaments with nearly frozen translational motion. For lower aspect ratios, this gas-of-spirals phase is suppressed with growing density due to filament collisions; instead, filaments form clusters similar to self-propelled rods. As activity increases, finite bending rigidity strongly effects the dynamics and phase behavior. Flexible filaments form small and transient clusters, while stiffer filaments organize into giant clusters, similarly to self-propelled rods, but with a reentrant phase behavior from giant to smaller clusters as activity becomes large enough to bend the filaments. For high filament densities, we identify a nearly frozen jamming state at low activities, a nematic laning state at intermediate activities, and an active-turbulence state at high activities. The latter state is characterized by a power-law decay of the energy spectrum as a function of wave number. The resulting phase diagrams encapsulate tunable non-equilibrium steady states that can be used in the organization of living matter.

Simulating squirmers with multiparticle collision dynamics

Multiparticle collision dynamics is a modern coarse-grained simulation technique to treat the hydrodynamics of Newtonian fluids by solving the Navier-Stokes equations. Naturally, it also includes thermal noise. Initially it has been applied extensively to spherical colloids or bead-spring polymers immersed in a fluid. Here, we review and discuss the use of multiparticle collision dynamics for studying the motion of spherical model microswimmers called squirmers moving in viscous fluids.