Related papers: Motion Control Simulations for a Magnetically-Coup…
The behavior of living systems is based on the experience they gained through their interactions with the environment [1]. This experience is stored in the complex biochemical networks of cells and organisms to provide a relationship…
- In this paper, we focus on a variant of a 3-link magnetic microswimmer which consists of three rigid magnetized segments connected by two torsional springs. In particular, we assume that one of the springs is twisted so that the swimmer…
Biomedical applications such as targeted drug delivery, microsurgery, and sensing rely on reaching precise areas within the body in a minimally invasive way. Artificial bacterial flagella (ABFs) have emerged as potential tools for this task…
The properties of biological microswimmers are to a large extent determined by fluid-mediated interactions, which govern their propulsion, perception of their surrounding, and the steering of their motion for feeding or in pursuit.…
Swimming, i.e., being able to advance in the absence of external forces by performing cyclic shape changes, is particularly demanding at low Reynolds numbers which is the regime of interest for micro-organisms and micro-robots. We focus on…
Beyond providing accurate movements, achieving smooth motion trajectories is a long-standing goal of robotics control theory for arms aiming to replicate natural human movements. Drawing inspiration from biological agents, whose reaching…
The microaerophilic magnetotactic bacterium Magnetospirillum gryphiswaldense swims along magnetic field lines using a single flagellum at each cell pole. It is believed that this magnetotactic behavior enables cells to seek optimal oxygen…
Magnetic microrobots can be navigated by an external magnetic field to autonomously move within living organisms with complex and unstructured environments. Potential applications include drug delivery, diagnostics, and therapeutic…
We study an active matter system comprised of magnetic microswimmers confined in a microfluidic channel and show that it exhibits a new type of self-organized behavior. Combining analytical techniques and Brownian dynamics simulations, we…
Trajectory tracking for microswimmers remains a key challenge in microrobotics, where low-Reynolds-number dynamics make control design particularly complex. In this work, we formulate the trajectory tracking problem as an optimal control…
Various microorganisms and some mammalian cells are able to swim in viscous fluids by performing nonreciprocal body deformations, such as rotating attached flagella or by distorting their entire body. In order to perform chemotaxis, i.e. to…
With the accelerated development of robot technologies, optimal control becomes one of the central themes of research. In traditional approaches, the controller, by its internal functionality, finds appropriate actions on the basis of the…
Magnetically driven artificial microswimmers have the potential to revolutionize many biomedical technologies, such as minimally-invasive microsurgery, micro-particle manipulation, and localized drug delivery. However, many of these…
Magnetic rolling microrobots enable gentle manipulation in confined microfluidic environments, yet autonomy for contact-rich behaviors such as cell pushing and multi-target assembly remains difficult to develop and evaluate reproducibly. We…
Several recent experiments investigate the orientational and transport behavior of self-driven bacteria and colloidal particles in nematic liquid crystals. Correspondingly, we study theoretically the dynamics of a minimal model microswimmer…
Active matter exhibits various forms of non-equilibrium states in the absence of external forcing, including macroscopic steady-state currents. Such states are often too complex to be modelled from first principles and our understanding of…
Micromanipulation of magnetotactic bacteria with a microelectromagnet matrix was demonstrated. Magnetotactic bacteria synthesize a chain of magnetic nanoparticles inside their body to guide their motion in the geomagnetic field. A…
In this paper we study a mathematical model of one-dimensional swimmers performing a planar motion while fully immersed in a viscous fluid. The swimmers are assumed to be of small size, and all inertial effects are neglected. Hydrodynamic…
Biofilms are spatially organized microorganism colonies embedded in a self-produced matrix, conferring to the microbial community resistance to environmental stresses. Motile bacteria have been observed swimming in the matrix of pathogenic…
Many soft-body organisms found in nature flourish underwater. Similarly, soft robots are potentially well-suited for underwater environments partly because the problematic effects of gravity, friction, and harmonic oscillations are less…