Guidance of microswimmers by wall and flow: Thigmotaxis and rheotaxis of unsteady squirmers in two and three dimensions.

The motions of an unsteady circular-disk squirmer and a spherical squirmer have been investigated in the presence of a no-slip infinite wall and a background shear flow in order to clarify the similarities and differences between two- and three-dimensional motions. Despite the similar bifurcation structure of the dynamical system, the stability of the fixed points differs due to the Hamiltonian structure of the disk squirmer. Once the unsteady oscillating surface velocity profile is considered, the disk squirmer can behave in a chaotic manner and cease to be confined in a near-wall region. In contrast, in an unsteady spherical squirmer, the dynamics is well attracted by a stable fixed point. Additional wall contact interactions lead to stable fixed points for the disk squirmer, and, in turn, the surface entrapment of the disk squirmer can be stabilized, regardless of the existence of the background flow. Finally, we consider spherical motion under a background flow. The separated time scales of the surface entrapment (thigmotaxis) and the turning toward the flow direction (rheotaxis) enable us to reduce the dynamics to two-dimensional phase space, and simple weather-vane mechanics can predict squirmer rheotaxis. The analogous structure of the phase plane with the wall contact in two and three dimensions implies that the two-dimensional disk swimmer successfully captures the nonlinear interactions, and thus two-dimensional approximation could be useful in designing microfluidic devices for the guidance of microswimmers and for clarifying the locomotions in a complex geometry.