相关论文: Non-Locally Controllable but Trackable Magnetic He…

A recent promising technique for robotic micro-swimmers is to endow them with a magnetization and apply an external magnetic field to provoke their deformation. In this note we consider a simple planar micro-swimmer model made of two…

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…

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…

We study two microswimmers consisting of a spherical rigid head and a passive elastic tail. In the first one the tail is clamped to the head, and the system oscillates under the action of an external torque. In the second one, head and tail…

Micro-swimmers put into motion by a rotating magnetic field have provided interesting challenges both in engineering and in mathematical modelling. We study here the dynamics of a permanent-magnetic rigid body submitted to a…

For a sperm cell-like flagellated swimmer in an unbounded domain, several numerical models of different fidelity are considered based on the Stokes flow approximation. The models include a Regularised Stokeslet Method and a 3D Finite…

Guiding active microswimmers by external fields to requested target locations is a promising strategy to realize complex transport on the microscale. To this end, one possibility consists of attaching the microswimmers to orientable passive…

Physics governing the locomotion of microorganisms and other microsystems is dominated by viscous damping. An effective swimming strategy involves the non-reciprocal and periodic deformations of the considered body. Here, we show that a…

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…

When swimming at low Reynolds numbers, inertial effects are negligible and reciprocal movements cannot induce net motion. Instead, symmetry breaking is necessary to achieve net propulsion. Directed swimming can be supported by magnetic…

We investigate a self-organized swimmer at low Reynolds numbers. The microscopic swimmer is composed of three spheres that are connected by two identical active linker arms. Each linker arm contains molecular motors and elastic elements and…

- 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…

With the continuing rapid development of artificial microrobots and active particles, questions of microswimmer guidance and control are becoming ever more relevant and prevalent. In both the applications and theoretical study of such…

Micro-scale swimming robots have been envisaged for many medical applications such as targeted drug delivery, where the microrobot will be expected to navigate in a fluid through channels carrying a payload. Alternatively, in many cases,…

Swimming micro-organisms such as flagellated bacteria and sperm cells have fascinating locomotion capabilities. Inspired by their natural motion, there is an ongoing effort to develop artificial robotic nano-swimmers for potential in-body…

Many microswimmers are able to swim through viscous fluids by employing periodic non-reciprocal deformations of their appendages. Here we use a simple microswimmer model inspired by swimming biflagellates which consists of a spherical cell…

The mechanism of swimming at very low Reynolds number conditions is a topic of interest to biologists and engineering community. We develop a novel kinematic model of a slender flexible swimmer which locomotes in a low Reynolds number…

In the above mentioned note (<hal-01145537>, <arXiv:1506.05918>, published in IEEE Trans. Autom. Cont., 2017), the first and fourth authors proved a local controllability result around the straight configuration for a class of…

We study the fluid drift due to a time-dependent dumbbell model of a microswimmer. The model captures important aspects of real microswimmers such as a time-dependent flagellar motion and a no-slip body. The model consists of a rigid sphere…

The motion of biological micro-robots -- similar to that of swimming microorganisms such as bacteria or spermatozoa -- is governed by different physical rules than what we experience in our daily life. This is particularly due to the…