3D Control of Rotating Millimeter-Scale Swimmers Through Obstacles
3D Control of Rotating Millimeter-Scale Swimmers Through Obstacles
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DOI：
10.1109/icra.2019.8794045
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发表时间：
2019-05
期刊：
影响因子：
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通讯作者：
J. Leclerc;Haoran Zhao;Aaron T. Becker
中科院分区：
文献类型：
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作者：
J. Leclerc;Haoran Zhao;Aaron T. Becker
本文研究了旋转毫米级游泳者的高速三维导航。游泳者有一个螺旋形的表面，以确保推进力。这种旋转运动用于推进，在未来的工作中，可以提供清除血块所需的动力。例如，磨料头可以用来逐步磨碎血块。实现了一种用于毫米级旋转游泳体三维控制的算法，并进行了实验验证。在一个直径为15毫米的管子里，游泳者可以沿着一定的轨迹航行，而不用接触管壁。这个直径小于远端降主动脉的平均直径，远端降主动脉是主动脉中最小的部分。几个游泳设计被制造和测试。我们最好的游泳运动员记录的最大速度是103.6毫米/秒，旋转速度为每秒477.5转。
This study investigates the high speed 3D navigation of rotating millimeter-scale swimmers. The swimmers have a spiral-shaped surface to ensure propulsion. The rotational movement is used for propulsion and, in future work, could provide the power needed to remove blood clots. For instance, an abrasive tip could be used to progressively grind a blood clot.An algorithm to perform 3D control of rotating millimeter-scale swimmers was implemented and tested experimentally. The swimmers can follow a trajectory and can navigate without touching the walls inside a tube having a diameter of 15 mm. This diameter is smaller than the average diameter of the distal descending aorta, which is the smallest section of the aorta. Several swimmers designs were built and tested. The maximum velocity recorded for our best swimmer was 103.6 mm/s with a rotational speed of 477.5 rotations per second.