Development of a new mechanism to change velocity in helical swimmer robot at low Reynolds Number

Salarieh, Hassan; Bahmanyar, Shahnaz

doi:10.24200/sci.2018.20031

Cited by 3 publications

(4 citation statements)

References 22 publications

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“…x 3 ] M. Relation (16), which consists of three equations and six variables, describes the dynamic properties of the microrobot. It can be used alongside Eq.…”

Section: Derivation Of the Governing Equations Of Motionmentioning

confidence: 99%

“…( 17) and ( 18), while minimizing an objective function J in each time step. Therefore, in each time step, variables θ k+1 , U 12 k+1 , U 23 k+1 , and U 31 k+1 must be determined such that they minimize function J while satisfying dynamical equations in relation (16). As a result, the Lagrange function to find minima of the objective function J, subject to the equality constraints (16), is the following: Here parameters γ i are the Lagrange multipliers.…”

Section: Optimal Controlmentioning

confidence: 99%

“…The models based on bacterium motion have also been expanded to consider the motion of microswimmers consisting of two or more flagella [14,15]. A mechanism has also been proposed that consists of two parallel flagella rotating around one axis [16]. In this mechanism, the rotation of the outer flagellum mainly produces propulsion, while the inner flagellum is responsible for controlling forward velocity.…”

Section: Introductionmentioning

confidence: 99%

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Optimal motion control of three-sphere based low-Reynolds number swimming microrobot

Pishkenari

Mohebalhojeh

2021

Robotica

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Microrobots with their promising applications are attracting a lot of attention currently. A microrobot with a triangular mechanism was previously proposed by scientists to overcome the motion limitations in a low-Reynolds number flow; however, the control of this swimmer for performing desired manoeuvres has not been studied yet. Here, we have proposed some strategies for controlling its position. Considering the constraints on arm lengths, we proposed an optimal controller based on quadratic programming. The simulation results demonstrate that the proposed optimal controller can steer the microrobot along the desired trajectory as well as minimize fluctuations of the actuators length.

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“…x 3 ] M. Relation (16), which consists of three equations and six variables, describes the dynamic properties of the microrobot. It can be used alongside Eq.…”

Section: Derivation Of the Governing Equations Of Motionmentioning

confidence: 99%

Section: Optimal Controlmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Optimal motion control of three-sphere based low-Reynolds number swimming microrobot

Pishkenari

Mohebalhojeh

2021

Robotica

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“…Various mechanisms, including electrics, acoustics, magnetic fields, thermal energy, and light, are utilized for actuating MRs [12][13][14]. Among these options, the use of a magnetic field is widely preferred due to its ability to penetrate different materials without causing damage while swiftly generating force and torque.…”

Section: Introductionmentioning

confidence: 99%

Design and Dynamics Modelling of a Novel Rotary Magnetic Microrobot

Khalesi,

Nejat Pishkenari,

Vossughi

2024

Scientia Iranica

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Swimming microrobots with various applications in targeted drug delivery, diagnostics, and minimally invasive surgery, have attracted a lot of interest in recent years. They are usually steered by an external energy source such as a magnetic field. In this paper, we have proposed a novel low Reynolds number swimmer driven by a rotary magnetic field and discussed its design parameters.The microrobot consists of a central sphere and two arms, which create linear movement with its rotation. It is shown that the microrobot speed depends on its dimensions and the magnetic field angular velocity. In addition, we have shown simultaneous control of three microrobots based on their different reactions to the same input.

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Design and Analysis of Mechanical Microswimmers

2021

J B & Bio Engine;

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The fascinating field in present civilization scenario at the edge of science is micro-swimmers, which is a combination of bio physics with self-propulsion mechanisms involving swimming strategies at low Reynolds number. These micro swimming robots offer many advantages in biomedical applications such as drug delivery to some specific locations in our human body and also conducting some surgical operations like opening of blocked arteries etc. In recent times, blocked arteries become a major case in the medical world. This is can be diagnosed by Angioplasty (is a minimally invasive, endovascular procedure to widen narrowed or obstructed arteries or veins, typically to treat arterial atherosclerosis) method. So this is the main reason to choose the aorta as our domain for analysis purpose. This paper presents a micro-swimmer with three different heads they are spherical head, Capsule type head and Tapered cylindrical or elliptical head and modelled using SOLIDWORKS and analysis in ANSYS FLUENT.

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Development of a new mechanism to change velocity in helical swimmer robot at low Reynolds Number

Cited by 3 publications

References 22 publications

Optimal motion control of three-sphere based low-Reynolds number swimming microrobot

Optimal motion control of three-sphere based low-Reynolds number swimming microrobot

Design and Dynamics Modelling of a Novel Rotary Magnetic Microrobot

Design and Analysis of Mechanical Microswimmers

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