Dynamics and optimal actuation of a three-sphere low-Reynolds-number swimmer with muscle-like arms

DOI10.1007/S10440-016-0087-9MaRDI QIDQ1675474zbMATH OpenOpenAlexFDO

Authors Alessandro Montino, Antonio DeSimone

Publication date 27 October 2017

Published in Acta Applicandae Mathematicae (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/1702.00365

zbMATH Keywords

optimal controlmicroswimmersHill's muscle modellow-Reynolds-number hydrodynamics

Mathematics Subject Classification ID

Biomechanical solid mechanics (74L15) Kinematics of mechanisms and robots (70B15) Controllability (93B05) Biopropulsion in water and in air (76Z10)

Abstract: The three-sphere swimmer by Najafi and Golestanian is composed of three spheres connected by two arms. The case in which the swimmer can control the lengths of the two arms has been studied in detail. Here we study a variation of the model in which the swimmer's arms are constructed according to Hill's model of muscular contraction. The swimmer is able to control the tension developed in the active components of the arms. The two shape parameters and the tensions acting on the two arms are then obtained by solving a system of ordinary differential equations. We study the qualitative properties of the solutions, compute analytically their leading order approximation and compare them with numerical simulations. We also formulate and solve some optimisation problems, aimed at finding the actuation strategies maximising performance, for various performance measures. Finally, we discuss the structure of the governing equations of our microswimmers from the point of view of control theory. We show that our systems are control affine systems with drift.

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Cites work

• Applied functional analysis. Main principles and their applications
• Computing optimal strokes for low Reynolds number swimmers
• Control and nonlinearity.
• Numerical strategies for stroke optimization of axisymmetric microswimmers
• On self-propulsion of micro-machines at low Reynolds number: Purcells three-link swimmer
• Optimal strokes for low Reynolds number swimmers: an example
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• Periodic motions

Cited in

(5)

• Optimization and small-amplitude analysis of Purcell's three-link microswimmer model
• On the self-propulsion of an \(N\)-sphere micro-robot
• Parking 3-sphere swimmer I. energy minimizing strokes
• A limiting model for a low Reynolds number swimmer with \(N\) passive elastic arms
• On the optimal control of rate-independent soft crawlers

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