Improved kinematic models for two-link helical micro/nanoswimmers

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dc.contributor.authorTabak, Ahmet Fatih
dc.contributor.authorYeşilyurt, Serhat
dc.date.accessioned2020-11-21T15:54:08Z
dc.date.available2020-11-21T15:54:08Z
dc.date.issued2014en_US
dc.departmentİstanbul Ticaret Üniversitesien_US
dc.description.abstractAccurate prediction of the 3-D trajectories of micro/nanoswimmers is a key element to achieve high precision motion control in therapeutic applications. Rigid-body kinematics of such robotic systems is dominated by viscous forces. The induced flow field around a two-link swimmer is investigated with a validated computational fluid dynamics model. Force-free-swimming constraints are employed in order to simulate motion of bacteria-like swimmers in viscous medium. The fluid resistance exerted on the body of the swimmer is quantified by an improved resistance matrix, which is embedded in a validated resistive force theory model, based on a complex-impedance approach. Parametric studies confirmed that the hydrodynamic interaction between body and tail are of great importance in predicting the trajectories for such systems. © 2013 IEEE.en_US
dc.identifier.doi10.1109/TRO.2013.2281551en_US
dc.identifier.endpage25en_US
dc.identifier.issn1552-3098
dc.identifier.issue1en_US
dc.identifier.scopus2-s2.0-84894456829en_US
dc.identifier.scopusqualityQ1en_US
dc.identifier.startpage14en_US
dc.identifier.urihttps://doi.org/10.1109/TRO.2013.2281551
dc.identifier.urihttps://hdl.handle.net/11467/3769
dc.identifier.volume30en_US
dc.identifier.wosWOS:000331301900003en_US
dc.identifier.wosqualityQ1en_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 Transactions on Roboticsen_US
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanıen_US
dc.rightsinfo:eu-repo/semantics/closedAccessen_US
dc.subjectBiological cellsen_US
dc.subjectBiomechatronicsen_US
dc.subjectFluidic microsystemsen_US
dc.subjectHydrodynamicsen_US
dc.subjectNumerical modelsen_US
dc.subjectRobot kinematicsen_US
dc.subjectVelocity measurementen_US
dc.titleImproved kinematic models for two-link helical micro/nanoswimmersen_US
dc.typeArticleen_US

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