相关论文: Optimal Design for Purcell Three-link Swimmer

At low Reynolds numbers the locomotive capability of a body can be dramatically hindered by the absence of inertia. In this work, we show how propulsive performance in this regime can be significantly enhanced by employing spatially varying…

E. M. Purcell showed that a body has to perform non-reciprocal motion in order to propel itself in a highly viscous environment. The swimmer with one degree of freedom is bound to do reciprocal motion, whereby the center of mass of the…

Due to the kinematic reversibility of Stokes flow, a body executing a reciprocal motion (a motion in which the sequence of body configurations remains identical under time reversal) cannot propel itself in a viscous fluid in the limit of…

Small displacement methods have been successfully used to calculate the lattice dynamical properties of crystals. It involves displacing atoms by a small amount in order to calculate the induced forces on all atoms in a supercell for the…

Active flexible filaments form the classical continuum framework for modelling the locomotion of spermatozoa and algae driven by the periodic oscillation of flagella. This framework also applies to the locomotion of various artificial…

The ground state solution of the random dimer model is at a critical point after, which has been shown with random link excitations. In this paper we test the robustness of the random dimer model to the random link excitation by imposing…

This paper focuses on robustness to disturbance forces and uncertain payloads. We present a novel formulation to optimize the robustness of dynamic trajectories. A straightforward transcription of this formulation into a nonlinear…

Swimming eukaryotic microorganisms such as spermatozoa, algae and ciliates self-propel in viscous fluids using travelling wave-like deformations of slender appendages called flagella. Waves are predominant because Purcell's scallop theorem…

A variety of swimming microorganisms, called ciliates, exploit the bending of a large number of small and densely-packed organelles, termed cilia, in order to propel themselves in a viscous fluid. We consider a spherical envelope model for…

Inchworm crawling allows for both quasistatic and dynamic gaits at a wide range of actuation frequencies. This locomotion mechanism is common in nonskeletal animals and exploited extensively in the bio-inspired field of soft robotics. In…

The rapidly advancing fields of statistical modeling and machine learning have significantly enhanced data-driven design and optimization. This paper focuses on leveraging these design algorithms to optimize a medical walker, an integral…

The paper presents an optimal synthesis of overconstrained linkages, based on the factorization of rational curves (representing one parametric motions) contained in Study's quadric. The group of Euclidean displacements is embedded in a…

We present and analyse a numerical method for understanding the low-inertia dynamics of an open, inextensible viscoelastic rod - a long and thin three dimensional object - representing the body of a long, thin microswimmer. Our model allows…

This paper investigates the optimization of the long-standing probabilistically robust transmit beamforming problem with channel uncertainties in the multiuser multiple-input single-output (MISO) downlink transmission. This problem poses…

Many microorganisms swim through gels and non-Newtonian fluids in their natural environments. In this paper, we focus on microorganisms which use flagella for propulsion. We address how swimming velocities are affected in nonlinearly…

We study a model of cell motility where the condition of optimal trade-off between performance and metabolic cost can be made precise. In this model a steadily crawling fragment is represented by a layer of active gel placed on a frictional…

Spring-driven jumping robots use an energised spring for propulsion, while the onboard motor only serves as a spring-charging source. A common mechanism in designing these robots is the rhomboidal linkage, which has been combined with…

We study the trajectories of a model microorganism inside three-dimensional channels with square and rectangular cross-sections. Using (i) numerical simulations based on lattice-Boltzmann method, and (ii) analytical expressions using…

This paper presents a subsystem-based adaptive control framework for serial flexible manipulators with an arbitrary number of links, in which the elastic deformation PDE of each link is carried through the entire control design without…

We present a general framework of designing efficient dynamic approximate algorithms for optimization on undirected graphs. In particular, we develop a technique that, given any problem that admits a certain notion of vertex sparsifiers,…