Related papers: Optimal Control of Microswimmers for Trajectory Tr…
Unlike macroscopic swimmers, microswimmers operate in a low-Reynolds-number regime dominated by viscous forces. This paper investigates the controllability of a magnetic microswimmer composed of a spherical magnetic head and an elastic,…
Robotic locomotion often relies on sequenced gaits to efficiently convert control input into desired motion. Despite extensive studies on gait optimization, achieving smooth and efficient gait transitions remains challenging. In this paper,…
We propose a computational method to solve optimal swimming problems, based on the boundary integral formulation of the hydrodynamic interaction between swimmer and surrounding fluid and direct constrained minimization of the energy…
Understanding and optimizing the design of helical micro-swimmers is crucial for advancing their application in various fields. This study presents an innovative approach combining Free-Form Deformation with Bayesian Optimization to enhance…
In this paper we are interested in optimizing the shape of multi-flagellated helical microswimmers. Mimicking the propagation of helical waves along the flagella, they self-propel by rotating their tails. The swimmer's dynamics is computed…
Controller tuning and parameter optimization are crucial in system design to improve closed-loop system performance. Bayesian optimization has been established as an efficient model-free controller tuning and adaptation method. However,…
This article presents a computational framework for determining the optimal slip velocity of a microswimmer with arbitrary three-dimensional geometry suspended in a viscous fluid. The objective is to minimize the hydrodynamic power…
Motion planning for multi-jointed robots is challenging. Due to the inherent complexity of the problem, most existing works decompose motion planning as easier subproblems. However, because of the inconsistent performance metrics, only…
Contrasting the well explored problem on how to steer a macroscopic agent like an airplane or a moon lander to optimally reach a target, "optimal microswimming", i.e. the quest for the optimal navigation strategy for microswimmers, remains…
In this article, we consider a swimmer (i.e. a self-deformable body) immersed in a fluid, the flow of which is governed by the stationary Stokes equations. This model is relevant for studying the locomotion of microorganisms or micro robots…
We propose a performance-based autotuning method for cascade control systems, where the parameters of a linear axis drive motion controller from two control loops are tuned jointly. Using Bayesian optimization as all parameters are tuned…
Microrobots have the potential to impact many areas such as microsurgery, micromanipulation and minimally invasive sensing. Due to their small size, microrobots swim in a regime that is governed by low Reynolds number hydrodynamics. In this…
Data-driven optimization of sampling patterns in MRI has recently received a significant attention.Following recent observations on the combinatorial number of minimizers in off-the-grid optimization, we propose a framework to globally…
This paper investigates the problem of straight-line path following for magnetic helical microswimmers. The control objective is to make the helical microswimmer to converge to a straight line without violating the step-out frequency…
Flagellated microswimmers are ubiquitous in natural habitats. Understanding the hydrodynamic behavior of these cells is of paramount interest, owing to their applications in bio-medical engineering and disease spreading. Since the last two…
We propose a combined analytical-numerical strategy to predict the dynamics and trajectory of a microswimmer next to a curved spherical obstacle. The microswimmer is actuated by a slip velocity on its surface and a uniformly valid solution…
This article presents a computational approach for determining the optimal slip velocities on any given shape of an axisymmetric micro-swimmer suspended in a viscous fluid. The objective is to minimize the power loss to maintain a target…
We present an automated procedure for the design of optimal actuation for flagellar magnetic microswimmers based on numerical optimization. Using this method, a new magnetic actuation method is provided which allows these devices to swim…
A systematic and automated framework for developing closed-loop flow control strategies is proposed, integrating suboptimal control theory [Lee et al., J. Fluid Mech. 358, 245 (1998)] with Bayesian optimization. The approach is demonstrated…
Continuous formulations of trajectory planning problems have two main benefits. First, constraints are guaranteed to be satisfied at all times. Secondly, dynamic obstacles can be naturally considered with time. This paper introduces a novel…