Soil searching by an artificial root
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Publication:6340575
Kinematics of mechanisms and robots (70B15) PDEs in connection with biology, chemistry and other natural sciences (35Q92) Integro-partial differential equations (35R09) Plant biology (92C80) PDEs in connection with mechanics of particles and systems of particles (35Q70) PDE constrained optimization (numerical aspects) (49M41)
Abstract: We model an artificial root which grows in the soil for underground prospecting. Its evolution is described by a controlled system of two integro-partial differential equations: one for the growth of the body and the other for the elongation of the tip. At any given time, the angular velocity of the root is obtained by solving a minimization problem with state constraints. We prove the existence of solutions to the evolution problem, up to the first time where a "breakdown configuration" is reached. Some numerical simulations are performed, to test the effectiveness of our feedback control algorithm.
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