Resistive force theory based modeling and simulation of surface contact for swimming helical micro robots with channel flow

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dc.contributor.authorErman, Aydek Gökce
dc.contributor.authorTabak, Ahmet Fatih
dc.date.accessioned2020-11-21T15:57:03Z
dc.date.available2020-11-21T15:57:03Z
dc.date.issued2014en_US
dc.departmentİstanbul Ticaret Üniversitesien_US
dc.description2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2014 -- 8 July 2014 through 11 July 2014 -- Besancon -- 107111en_US
dc.description.abstractPossible uses of bio inspired swimming micro robotics devices in confined viscous domains constitutes the need for real-time models with the capability of predicting the problem of contact with solid boundaries of varying stiffness. The model presented in this paper incorporates known numerical and analytical solutions to various problems and proposes an alternative tool to handle hydrodynamics and rigid body kinematics of the motility of bacteria and bio-inspired swimmers in viscous channels. Presented three-dimensional trajectory examples are solved by means of resistive force theory (RFT) based equation of motion with simple forward Euler integration. It is demonstrated that the effects of channel flow, gravity, lubrication, and contact stiffness with structural damping can be studied coupled with a six-degrees-of-freedom time dependent robotic model using quaternion rotations to handle rigid-body rotations. Trajectory studies indicate that the structural stiffness term should be significantly smaller than the damping term in order to prevent sudden local jumps. © 2014 IEEE.en_US
dc.identifier.doi10.1109/AIM.2014.6878110en_US
dc.identifier.endpage395en_US
dc.identifier.isbn9781480000000
dc.identifier.scopus2-s2.0-84906667653en_US
dc.identifier.scopusqualityN/Aen_US
dc.identifier.startpage390en_US
dc.identifier.urihttps://doi.org/10.1109/AIM.2014.6878110
dc.identifier.urihttps://hdl.handle.net/11467/4212
dc.identifier.wosWOS:000346499600066en_US
dc.identifier.wosqualityN/Aen_US
dc.indekslendigikaynakWeb of Scienceen_US
dc.indekslendigikaynakScopusen_US
dc.language.isoenen_US
dc.publisherInstitute of Electrical and Electronics Engineers Inc.en_US
dc.relation.ispartofIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIMen_US
dc.relation.publicationcategoryKonferans Öğesi - Uluslararası - Kurum Öğretim Elemanıen_US
dc.rightsinfo:eu-repo/semantics/closedAccessen_US
dc.titleResistive force theory based modeling and simulation of surface contact for swimming helical micro robots with channel flowen_US
dc.typeConference Objecten_US

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