Optimally swimming Stokesian robots

DOI10.3934/DCDSB.2013.18.1189zbMATH Open1375.76228arXiv1007.4920OpenAlexW2026882743WikidataQ59202155 ScholiaQ59202155MaRDI QIDQ378965FDOQ378965

Authors: Luca Heltai, Aline Lefebvre-Lepot, Benoît Merlet, François Alouges, Antonio DeSimone 

Publication date: 12 November 2013

Published in: Discrete and Continuous Dynamical Systems. Series B (Search for Journal in Brave)

Abstract: We study self propelled stokesian robots composed of assemblies of balls, in dimensions 2 and 3, and prove that they are able to control their position and orientation. This is a result of controllability, and its proof relies on applying Chow's theorem in an analytic framework, similarly to what has been done in [3] for an axisymmetric system swimming along the axis of symmetry. However, we simplify drastically the analyticity result given in [3] and apply it to a situation where more complex swimmers move either in a plane or in three-dimensional space, hence experiencing also rotations. We then focus our attention on energetically optimal strokes, which we are able to compute numerically. Some examples of computed optimal strokes are discussed in detail.

Full work available at URL: https://arxiv.org/abs/1007.4920

Recommendations

• Optimal strokes for low Reynolds number swimmers: an example
• A Stokesian submarine
• Controllability and time optimal control for low Reynolds numbers swimmers
• Computing optimal strokes for low Reynolds number swimmers
• Controllability of 3D low Reynolds number swimmers

zbMATH Keywords

optimal controlpropulsion efficiencybiological and artificial micro-swimmerslow-Reynolds-number (creeping) flowmovement and locomotion

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Controllability (93B05) Applications of optimal control and differential games (49N90) Fluid-solid interactions (including aero- and hydro-elasticity, porosity, etc.) (74F10) Biopropulsion in water and in air (76Z10) Geometric methods (93B27)

Cited In (24)

• Shape optimization of Stokesian peristaltic pumps using boundary integral methods
• Low Reynolds number swimming and controllability
• Title not available (Why is that?)
• Swim-like motion of bodies immersed in an ideal fluid
• Periodical Body Deformations are Optimal Strategies for Locomotion
• Optimal strokes for the 4-sphere swimmer at low Reynolds number in the regime of small deformations
• Modelling and finite element simulation of multi-sphere swimmers
• Optimal strokes for driftless swimmers: A general geometric approach
• Controllability of low Reynolds numbers swimmers of ciliate type
• Self-propulsion of \(N\)-hinged `animats' at low Reynolds number
• Rough wall effect on micro-swimmers
• Enhanced controllability of low Reynolds number swimmers in the presence of a wall
• Optimal strokes for low Reynolds number swimmers: an example
• Cell Motility and Locomotion by Shape Control
• A limiting model for a low Reynolds number swimmer with \(N\) passive elastic arms
• Parking 3-sphere swimmer I. energy minimizing strokes
• Dynamics and optimal actuation of a three-sphere low-Reynolds-number swimmer with muscle-like arms
• A Stokesian submarine
• Nonsingular isogeometric boundary element method for Stokes flows in 3D
• A freely suspended robotic swimmer propelled by viscoelastic normal stresses
• A finite element method for simulating soft active non-shearable rods immersed in generalized Newtonian fluids
• Species Sampling Priors for Modeling Dependence: An Application to the Detection of Chromosomal Aberrations
• Reduced basis isogeometric methods (RB-IGA) for the real-time simulation of potential flows about parametrized NACA airfoils
• The control of particles in the Stokes limit

Uses Software

• deal.ii

This page was built for publication: Optimally swimming Stokesian robots

Report a bug (only for logged in users!)Click here to report a bug for this page (MaRDI item Q378965)