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Mathematical control theory for mirorobot and cell locomotion

微型机器人和细胞运动的数学控制理论

基本信息

批准号：
22KF0197
负责人：
石本健太
金额：
$ 1.47万
依托单位：
Kyoto University
依托单位国家：
日本
项目类别：
Grant-in-Aid for JSPS Fellows
财政年份：
2023
资助国家：
日本
起止时间：
2023-03-08 至 2024-03-31
项目状态：
已结题

来源：
https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-22KF0197/
关键词：
control theory microswimming fluid mechanics mathematical modelling shape optimisation

项目摘要

The research plan for the Fellowship comprises three axes.First axis: Fundamental tools in controllability and control theory. In this line of research, we have finalised a version of [1], with major results in controllability of systems with a drift, which got accepted for publication in 2023. Second axis: Improve microswimmer efficiency and design. In this line of research, we have considerably developed the project around shape optimisation for fluid dynamics at microscopic scale. A first manuscript was completed and submitted in summer 2022. Subsequent refinements of the numerical framework and several research visits were conducted to extend the project in new directions: optimal shapes with friction and dynamical optimisation with links to optimal control. Our work on multi scale modelling for microswimmer description, in collaboration with researchers in the UK, led to important results disseminated in several papers (one published [2] and two submitted) Finally, control of micro robots is investigated through a collaboration initiated with a robotics team in the UK: establishment of a model and optimal swimming strokes. Third axis: new means of microswimmer propulsion. In this line of research, our paper on the control of multiple swimmers was published in Journal of Fluid Mechanics in July 2022 [3]. Our new research on odd elasticity as a model for internal activity (with a first publication in July 2022 [4]) now constitutes the main perspective of this axis, with the hope of using it as a basis for smart robot / self-propelled design.

该研究计划包括三个方面：第一个方面：可控性和控制理论的基本工具。在这方面的研究中，我们已经完成了[1]的一个版本，在漂移系统的可控性方面取得了重大成果，并于2023年被接受发表。第二轴：改进微型游泳器的效率和设计。在这方面的研究中，我们已经大大开发了微观尺度下流体动力学形状优化的项目。第一份手稿于2022年夏天完成并提交。随后对数值框架进行了改进，并进行了几次研究访问，以将该项目扩展到新的方向：摩擦的最佳形状和与最佳控制相关的动态优化。我们与英国的研究人员合作，对microswimmer描述的多尺度建模工作，导致了几篇论文中传播的重要结果（一篇发表[2]，两篇提交）最后，通过与英国的机器人团队合作，研究了微型机器人的控制：建立模型和最佳游泳姿势。第三轴：微型游泳器推进的新方法。在这方面的研究中，我们关于控制多个游泳者的论文于2022年7月发表在《流体力学杂志》上[3]。我们关于奇数弹性作为内部活动模型的新研究（首次发表于2022年7月[4]）现在构成了这个轴的主要观点，希望将其用作智能机器人/自走式设计的基础。