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Control of Swarm Micro-Swimmers in the Low-Reynolds Number Fluid to Reduce Energy Consumption

Abdi, Hossein | 2019

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 52513 (08)
  4. University: Sharif University of Technology
  5. Department: Mechanical Engineering
  6. Advisor(s): Nejat, Hossein
  7. Abstract:
  8. In this study, at first modeling of a self-propelled microrobot and its hydrodynamic effects on flow field are investigated. Then, a cascade controller has been designed for the fully actuated microrobot in order to track the desired time trajectories. Next, in order to design an optimal controller to decrease energy consumption, regardless of tracking the desired orientation trajectory compared to the desired position trajectory, the fully actuated microrobot would change to over actuated microrobot. Thus, it would be able to orient freely itself according to the flow field so that reduce the energy consumption. By applying the optimal controller on the over actuated microrobot, it was observed that the energy consumption was significantly reduced. In the next step of this study, by applying the optimal controller on a group of microrobots with 2, 3 and 4 members, it was observed that the average of the energy consumption was dependent on the microrobots’ distance. By increasing distance, the hydrodynamic effects of the microrobots on the flow field are damped so the swarm motion would convert to independent motions of several microrobots. On the other hand, by reducing the distance and thereby enhancing the hydrodynamic effects on the flow field, the microrobots will be able to adopt a suitable orientation to reduce energy consumption according to its flow field. It was also observed that swarm motion of microbots would be more efficient in terms of energy consumption than individual motion. In the last section of this study, to avoid microrobots collision, we proposed a swarm controller to keep microrobots in a optimum distance
  9. Keywords:
  10. Micro Robot ; Microswimmer ; Low Reynolds Number ; Swarm Control ; Energy Consumption Reduction ; Optimal Control ; Self Propulsion

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