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Planar Motion Control and Path Following of a Biomimetic Helical Swimmer Robot in Low Reynolds Condition

Ghasemi, Mahdi | 2018

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 51421 (08)
  4. University: Sharif University of Technology
  5. Department: Mechanical Engineering
  6. Advisor(s): Sayadi, Hassan
  7. Abstract:
  8. Today, the use of controllable swimmer micro-robots has expanded from micro to macro-scale dimensions due to their many applications. These robots, as a result of their small size and dimensions, have the ability to access limited and complex environments. Considering the various applications of such swimmers, it can be said that in addition to the necessity of well designing and implementation, their maneuverability and controllability are among the most important research areas on these swimmers. Regarding the dimensions and technologies needed for these robots, various methods for designing and implementing them are suggested, which are mostly inspired by the nature of microorganisms. In recent years, numerous studies on body shape, motion mechanisms, equations governing the motion, actuation systems, the effects of the environment on the movement and position control study have been done. One of the challenges ahead is to design a path following scheme and control of this robot, whose difficulty lies in its nonholonomic dynamics and the kinematic conditions of movement in low Reynolds environments. The subject of this research is to examine the scaled models and provide control methods based on these models to track the predefined paths and reduce possible errors in simulating the robot's motion. Regarded to the studies and limitations mentioned in the path tracking, a quasi-fuzzy algorithm is designed to imitate the motion control of a boat by the human operator, which can track predetermined paths with acceptable errors for scaled-up helical swimmer robot. This offline control algorithm was applied to the system and finally, the simulations were studied using MATLAB software. Also, the optimal model for future manufacturing, with use of optimization analysis of the geometric parameters of the head and tail, was investigated in order to achieve the highest forward velocity and efficiency and the lowest radius of curvature
  9. Keywords:
  10. Genetic Algorithm Optimization ; Optimization ; Flagellin Bacteries ; Low Reynolds Number ; Path Following ; Tracking Control ; Helical Swimmer Robot

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