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Many swimming protists travel by actuating whip-like flagella to generate thrust. While many organisms’ flagella have been observed to have hair-like protrusions called mastigonemes, the function of these mastigonemes is not known. In particular, however, although theory, numerics, and some experiments suggest that mastigonemes can initiate the reversal in direction of thrust generated relative to the direction of traveling waves propagated along flagella, other experiments have found that they do not have hydrodynamic effects. Thus, it remains unclear whether mastigonemes have a hydrodynamic effect and function; additionally, any hydrodynamic effects may be species-dependent, which calls for the investigation of additional species. In this work, we report experimental observations of the cryptophyte C. paramecium that obtain their cell body, flagellar, and mastigoneme geometries, as well as their swimming kinematics and behavior. We then use the observed geometries and kinematics to numerically simulate swimming trajectories for a particularly well-characterized reorientation event, with and without various configurations of the mastigonemes. The comparison of numerical and experimental results shows that a configuration of mastigonemes in the beating plane best reproduces the observed reorientation dynamics, suggesting that in C. paramecium, although mastigonemes do not lead to gross changes in motility, such as thrust reversal, they do exert important quantitative effects.

Nano/microrobotic swimmers have many possible biomedical applications such as drug delivery and micro-manipulation. This paper examines one of the most promising classes of these: rigid magnetic microrobots that are propelled through bulk fluid by rotation induced by a rotating magnetic field. Propulsion corresponds to steadily rotating and translating solutions of the dynamics of such microrobots that co-rotate with the magnetic field. To be observed in experiments and be amenable to steering control, such solutions must also be stable to perturbations. In this paper, we analytically derive a criterion for the stability of such steadily rotating solutions for a microrobot made of soft magnetic materials, which have a magnetization that depends on the applied field. This result generalizes previous stability criteria we obtained for microrobots with a permanent magnetization.