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.

奖学金的研究计划包括三个轴。第一个轴：可控性和控制理论的基本工具。在这一研究中，我们最终确定了[1]版本的版本，重大的结果是有漂移的系统的可控性，该系统在2023年被接受。第二轴：提高微维格默效率和设计。在这一研究中，我们已经大量开发了围绕微小尺度流体动力学的形状优化的项目。第一个手稿于2022年夏季完成并提交。随后进行了数值框架的改进，并进行了几次研究访问，以将项目扩展到新的方向上：具有摩擦和动态优化的最佳形状，并链接到最佳控制。我们与英国研究人员合作进行了有关微型机器人描述的多尺度建模的工作，导致了在几篇论文中传播的重要结果（一篇已发表[2]和两份提交），最后，通过与英国的机器人团队发起的合作来调查对微机器人的控制：建立模型和最佳游泳中的中风。第三轴：微型驱动器推进的新手段。在这一研究中，我们关于多个游泳者控制的论文于2022年7月发表在流体力学杂志上[3]。我们以奇数弹性为内部活动的模型的新研究（2022年7月的首次出版物[4]）现在构成了该轴心的主要视角，希望将其用作智能机器人 /自我抛光设计的基础。