Control Of Nonlinear Distributed Systems With Applications To Micro-Robotics

本研究的动机是开发用于操纵微观物体的智能微型机器人。注意力集中在浸泡在流体介质中的微观颗粒的操纵和控制上。所提出的方法是使用引导行表面波来引导浸入流体层中的粒子。拟议的研究分为两个阶段。初始阶段致力于与所提出的想法相关的各种问题的理论和计算研究，特别是，粒子捕获可以实现的条件，以及适用的操作和控制方法的发展。这一阶段之后是一项实验研究，以确定理论结果的有效性范围，以及所提出方法的实用性。所提出的思想涉及到以域形状为控制变量的非线性分布式系统的控制。

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.