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Metachronal wave development. (a) The phase along the chain of rotors and (b) the neighbouring phase difference Φi +1 − Φi are shown as functions of time. The symplectic MW is established within 15 beats for this value of Λ = 0.1. (c) Phase profile of an array of 30 spheres after t/T = 1200 beats. Results are shown for Λ = λd/fdrive = 0.1, 0.5, 1, 1.5, 2. All results correspond to parameters a/d = 0.01, r0/d = 0.5 and l/d = 2.
