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Clément Moreau1, Kenta Ishimoto1

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Summary
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Artificial magnetic cilia carpets can steer micro-robots using wall-generated flows. This study shows flow control improves microswimmer transport and guidance, paving the way for future experiments.

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Area of Science:

  • Fluid dynamics
  • Control theory
  • Micro-robotics

Background:

  • Active walls like cilia and bacteria generate flows affecting microswimmer trajectories.
  • Artificial magnetic cilia carpets offer potential for steering bio-hybrid microrobots via wall flows.

Purpose of the Study:

  • Assess the viability of using wall-generated background flow for microswimmer guidance.
  • Investigate theoretical and numerical aspects of steering bio-hybrid microrobots.

Main Methods:

  • Developed a simple model of a spherical swimmer in oscillatory flow.
  • Analyzed swimmer guidance from a control theory perspective.
  • Performed direct simulations to demonstrate wall actuation effects.

Main Results:

  • Demonstrated local controllability of microswimmer trajectories around free paths.
  • Investigated bang-bang control for time-optimal trajectories, estimating minimal time.
  • Showed wall actuation improves wall-following transport by nearly 50%.

Conclusions:

  • Wall-generated flow control is a viable method for microswimmer guidance.
  • Feedback control enhances robustness and effectiveness compared to open-loop control.
  • Findings support future experiments in micro-robot guidance using flow control.