Control Of Nonlinear Distributed Systems With Applications To Micro-Robotics

点击翻译按钮获取中文摘要

This proposed research is motivated from the development of intelligent micro-robots for manipulating microscopic objects. Attention is focused on the manipulation and control of microscopic particles immersed in a fluid medium. The proposed approach is to use a guided travelling surface wave for steering particles immersed in a fluid layer. The proposed study consists of two phases. The initial phase is devoted to a theoretical and computational study of various problems associated with the proposed idea, in particular, the conditions under which particle trapping is attainable, and the development of applicable methods for manipulation and control. This phase is followed by an experimental study for determining the range of validity of the theoretical results, and the practicality of the proposed approach. The proposed idea involves the control of a nonlinear distributed system in which the domain shape is the control variable.