ダウンロード数: 28
このアイテムのファイル:
ファイル | 記述 | サイズ | フォーマット | |
---|---|---|---|---|
rsos.211141.pdf | 1.72 MB | Adobe PDF | 見る/開く |
タイトル: | Control and controllability of microswimmers by a shearing flow |
著者: | Moreau, Clément Ishimoto, Kenta Gaffney, Eamonn A. Walker, Benjamin J. |
著者名の別形: | 石本, 健太 |
キーワード: | controllability flow control robustness microswimmer control |
発行日: | Aug-2021 |
出版者: | The Royal Society |
誌名: | Royal Society Open Science |
巻: | 8 |
号: | 8 |
論文番号: | 211141 |
抄録: | 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 microscale swimmers, control is often mediated by an engineered property of the swimmer, such as in the case of magnetically propelled microrobots. In this work, we will consider a modality of control that is applicable in more generality, effecting guidance via modulation of a background fluid flow. Here, considering a model swimmer in a commonplace flow and simple geometry, we analyse and subsequently establish the efficacy of flow-mediated microswimmer positional control, later touching upon a question of optimal control. Moving beyond idealized notions of controllability and towards considerations of practical utility, we then evaluate the robustness of this control modality to sources of variation that may be present in applications, examining in particular the effects of measurement inaccuracy and rotational noise. This exploration gives rise to a number of cautionary observations, which, overall, demonstrate the need for the careful assessment of both policy and behavioural robustness when designing control schemes for use in practice. |
著作権等: | © 2021 The Authors. Published by the Royal Society under the terms of the Creative Commons Attribution License, which permits unrestricted use, provided the original author and source are credited. |
URI: | http://hdl.handle.net/2433/277945 |
DOI(出版社版): | 10.1098/rsos.211141 |
PubMed ID: | 34430052 |
出現コレクション: | 学術雑誌掲載論文等 |
このアイテムは次のライセンスが設定されています: クリエイティブ・コモンズ・ライセンス