Control Of Nonlinear Distributed Systems With Applications To Micro-Robotics

这项研究的动机是从发展 智能微型机器人来操纵微观物体。 注意力集中在微观的操纵和控制上。 浸入流体介质中的颗粒。 建议的方法是使用 一种引导行进表面波，用于操纵浸没在 流体层 拟议的研究包括两个阶段。 初始阶段 致力于各种问题的理论和计算研究 与所提出的想法有关，特别是， 其中颗粒捕获是可以实现的， 适用的操作和控制方法。 这个阶段 然后进行实验研究，以确定 理论结果的有效性和实用性， 建议的方法。 所提出的想法涉及控制一个 非线性分布系统，其中区域形状是控制 变量

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.