Hydrodynamic Modeling and Swarm Control Microswimmers

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Alanchari chavarchi, Hossein | 2019

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Type of Document: M.Sc. Thesis
Language: Farsi
Document No: 51890 (08)
University: Sharif University of Technology
Department: Mechanical Engineering
Advisor(s): Sayyaadi, Hassan; Mehdigholi, Hamid
Abstract:
Nowadays, regarding the wide achievements in micro scale technology, it is possible to manufacture a micro robot. Micro swimmer have extensive applications in different fields especially in medical sciences. One of the most important problems of the micro robot is their propulsion system. The locomotion of microorganisms in fluids is ubiquitous and plays an important role in numerous biological processes. The physics of swimming governing life under the microscope is very different from the one we experience in the macroscopic world. This project is aimed at designing a propulsion system for a micro swimmer based on the swimming mechanism of the eukaryotic Spermatozoa. Simplicity to build is the reason for this choice. The smart material of Ionic polymeric metal composites use as flagella actuators for propulsion. Then dynamic modeling and simulation of that, begin control implementation in fluid flow environment for the one model to path tracking. Afterwards design swarm control for keeping formation while obstacle avoidance with the least connection between microswimmers
Keywords:
Microswimmer ; Low Reynolds Number ; Planar Flagellum ; Ionic Polymeric-Metal Composit ; Formation Control

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