相关论文: Smart navigation of a gravity-driven glider with a…

Control of particle motion is generally achieved by applying an external field that acts directly on each particle. Here, we propose a global way to manipulate the motion of a particle by dynamically changing the properties of the fluid in…

We aim to enable a mobile robot to navigate through environments with dense crowds, e.g., shopping malls, canteens, train stations, or airport terminals. In these challenging environments, existing approaches suffer from two common…

We study a linear inviscid model of a passively flexible swimmer with distributed flexibility, calculating its propulsive performance and optimal distributions of flexibility. The frequencies of actuation and mean stiffness ratios we…

As the length scales of the smallest technology continue to advance beyond the micron scale it becomes increasingly important to equip robotic components with the means for intelligent and autonomous decision making with limited…

Inspired by the classical Kepler and Rutherford problem, we investigate an analogous set-up in the context of active microswimmers: the behavior of a deformable microswimmer in a swirl flow. First we identify new steady bound states in the…

At finite Reynolds numbers particles migrate across flow streamlines to their equilibrium positions in microchannels. Such a migration is attributed to an inertial lift force, and it is well-known that the equilibrium location of…

Close and precise placement of irregularly shaped objects requires a skilled robotic system. The manipulation of objects that have sensitive top surfaces and a fixed set of neighbors is particularly challenging. To avoid damaging the…

We stabilize the flow past a cluster of three rotating cylinders, the fluidic pinball, with automated gradient-enriched machine learning algorithms. The control laws command the rotation speed of each cylinder in an open- and closed-loop…

Hydrodynamic interactions can generate rich emergent structures in active matter systems. Using large-scale hydrodynamic simulations, we demonstrate that hydrodynamic coupling alone can drive spontaneous self-organization across a hierarchy…

Translational and rotational swimming at small Reynolds number of a planar assembly of identical spheres immersed in an incompressible viscous fluid is studied on the basis of a set of equations of motion for the individual spheres. The…

We employ deep reinforcement learning methods to investigate shortest-time navigation strategies for smart active Brownian particles (microagents), which self-propel through a rotating potential barrier in a static, viscous, fluid…

The range and speed of direct ink writing, the workhorse of 3d and 4d printing, is limited by the practice of liquid extrusion from a nozzle just above the surface to prevent instabilities to cause deviations from the required print path.…

Microswimmers can acquire information on the surrounding fluid by sensing mechanical queues. They can then navigate in response to these signals. We analyse this navigation by combining deep reinforcement learning with direct numerical…

Blimps are well suited to perform long-duration aerial tasks as they are energy efficient, relatively silent and safe. To address the blimp navigation and control task, in previous work we developed a hardware and software-in-the-loop…

Fascinating in art and science, the ability to float is also captivating and relevant in practical applications, such as Penning and ion traps that are fundamental to quantum computing. In this work, we first reproduce the classic water…

We theoretically and computationally study the low-Reynolds-number hydrodynamics of a linear active microswimmer surfing on a compressible thin fluid layer characterized by an odd viscosity. Since the underlying three-dimensional fluid is…

Inverted landing in a rapid and robust manner is a challenging feat for aerial robots, especially while depending entirely on onboard sensing and computation. In spite of this, this feat is routinely performed by biological fliers such as…

In densely populated environments, socially compliant navigation is critical for autonomous robots as driving close to people is unavoidable. This manner of social navigation is challenging given the constraints of human comfort and social…

Fluid-suspended microorganisms have evolved different swimming and feeding strategies in order to cope with an environment dominated by viscous effects. For instance ciliated organisms rely on the collective motion of flexible appendices to…

An unstable grasp pose can lead to slip, thus an unstable grasp pose can be predicted by slip detection. A regrasp is required afterwards to correct the grasp pose in order to finish the task. In this work, we propose a novel regrasp…