Related papers: Optimally swimming Stokesian robots
The three-sphere swimmer by Najafi and Golestanian is composed of three spheres connected by two arms. The case in which the swimmer can control the lengths of the two arms has been studied in detail. Here we study a variation of the model…
Recently, the Brownian dynamics of self-propelled (active) rod-like particles was explored to model the motion of colloidal microswimmers, catalytically-driven nanorods, and bacteria. Here, we generalize this description to biaxial…
The dynamic programming approach for the control of a 3D flow governed by the stochastic Navier-Stokes equations for incompressible fluid in a bounded domain is studied. By a compactness argument, existence of solutions for the associated…
Simple, linear equations relate microscopic swimmers to the corresponding gliders and pumps. They have the following set of consequences: The swimming velocity of free swimmers can be inferred from the force on the tethered swimmer and vice…
This paper primarily focuses on the practical applications of optimal control theory for perturbed sweeping processes within the realm of robotics dynamics. By describing these models as controlled sweeping processes with pointwise control…
We present new constrained and free-swimming experiments and simulations of a pair of pitching hydrofoils interacting in a minimal school. The hydrofoils have an out-of-phase synchronization and they are varied through in-line, staggered,…
An imbalanced rotor is considered. A system of moving balancing masses is given. We determine the optimal movement of the balancing masses to minimize the imbalance on the rotor. The optimal movement is given by an open-loop control solving…
The aim of this paper is to give some existence results of optimal control of robotic systems with a Riemannian geometric view, and derive a formulation of the PMP using the intrinsic geometry of the configuration space. Applying this…
We study an optimization problem that aims to determine the shape of an obstacle that is submerged in a fluid governed by the Stokes equations. The mentioned flow takes place in a channel, which motivated the imposition of a Poiseuille-like…
Cells swimming in viscous fluids create flow fields which influence the transport of relevant nutrients, and therefore their feeding rate. We propose a modeling approach to the problem of optimal feeding at zero Reynolds number. We consider…
In each rowing sport, the oars have their very own characteristics most of the time selected through a long time experience. Here we address experimentally and theoretically the problem of rowing efficiency as function of row lengths and…
The dynamics of periodic swimming is studied for two models of a deformable sphere, the dipole-quadrupole model and the quadrupole-octupole model. For the two models the solution of the Navier-Stokes equations can be found exactly to second…
This paper introduces a simulation study of fluid actuated multi-driven closed system as spherical mobile robot called "RollRoller". Robot's mechanism design consists of two essential parts: tubes to lead a core and mechanical controlling…
An optimal control problem described by the Hamilton-Jacobi-Bellman equation can be developed into a problem that can be solved by general computational fluid dynamics packages. We describe how this formulation would allow a classical…
The results of an experimental investigation of a sphere performing torsional oscillations in a Stokes flow are presented. A novel experimental set up was developed which enabled the motion of the sphere to be remotely controlled through…
Depending on multiple parameters, soft robots can exhibit different modes of locomotion that are difficult to model numerically. As a result, improving their performance is complex, especially in small-scale systems characterized by low…
We derive from first principles a three-dimensional theory of self-propelled particle swarming in a viscous fluid environment. Our model predicts emergent collective behavior that depends critically on fluid opacity, mechanism of…
We propose an efficient threshold dynamics method for topology optimization for fluids modeled with the Stokes equation. The proposed algorithm is based on minimization of an objective energy function that consists of the dissipation power…
Many microorganisms swim in a highly heterogeneous environment with obstacles such as fibers or polymers. To better understand how this environment affects microorganism swimming, we study propulsion of a cylinder or filament in a fluid…
Swimming microorganisms often self propel in fluids with complex rheology. While past theoretical work indicates that fluid viscoelasticity should hinder their locomotion, recent experiments on waving swimmers suggest a possible…