Mathematical Modeling of Swimming Soft Microrobots
- 1st Edition - June 22, 2021
- Imprint: Academic Press
- Authors: Islam S.M. Khalil, Anke Klingner, Sarthak Misra
- Language: English
- Paperback ISBN:9 7 8 - 0 - 1 2 - 8 1 6 9 4 5 - 2
- eBook ISBN:9 7 8 - 0 - 1 2 - 8 1 6 9 4 4 - 5
Mathematical Modelling of Swimming Soft Microrobots presents a theoretical framework for modelling of soft microrobotic systems based on resistive-force theory. Microo… Read more
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Request a sales quoteMathematical Modelling of Swimming Soft Microrobots presents a theoretical framework for modelling of soft microrobotic systems based on resistive-force theory. Microorganisms are highly efficient at swimming regardless of the rheological and physical properties of the background fluids. This efficiency has inspired researchers and Engineers to develop microrobots that resemble the morphology and swimming strategies of microorganisms. The ultimate goal of this book is threefold: first, to relate resistive-force theory to externally and internally actuated microrobotic systems; second, to enable the readers to develop numerical models of a wide range of microrobotic systems; third, to enable the reader to optimize the design of the microrobot to enhance its swimming efficiency.
- Enable the readers to develop numerical models of a wide range of microrobotic systems
- Enable the reader to optimize the design of the microrobot to enhance its swimming efficiency
- The focus on the development of numerical models that enables Engineers to predict the behavior of the microrobots and optimize their designs to increase their swimming efficiency
- Provides videos to demonstrate experimental results and animations from the simulation results
Post-doctoral research associates, Graduate students; and Senior undergraduate students studying fluid dynamics, microfluidics, microrobotics, and in research laboratories
- Cover image
- Title page
- Table of Contents
- Copyright
- Dedication
- Biography
- Preface
- Chapter 1: Introduction
- Abstract
- 1.1. Background
- 1.2. The concept of swimming soft filament
- 1.3. Properties of flow at low-Re
- 1.4. Swimming filament
- 1.5. Drag-based thrust
- 1.6. Propulsive thrust from waves
- 1.7. Modeling framework
- 1.8. Application areas
- References
- Part I: Fundamentals of the theory of elasticity, electromagnetics, and fluid mechanics
- Chapter 2: Theory of elasticity
- Abstract
- 2.1. Rigid bodies
- 2.2. Fluid response
- 2.3. Geometry of chiral microrobots
- 2.4. Swimming of rigid bodies
- 2.5. Deformable bodies
- 2.6. Reynolds transport theorem
- 2.7. Equation of motion
- 2.8. Finite-difference discretization
- References
- Chapter 3: Theory of electromagnetics
- Abstract
- 3.1. Force on a moving charge
- 3.2. Flux and circulation of vector fields
- 3.3. Maxwell's equations
- 3.4. Magnetic fields
- 3.5. The nature of magnetic materials
- 3.6. Magnetic force and torque
- References
- Chapter 4: Fluid mechanics and resistive-force theory
- Abstract
- 4.1. The equation of continuity
- 4.2. Euler's equation
- 4.3. Equation of motion of a viscous fluid
- 4.4. Reynolds number (revisited)
- 4.5. Flow with small Reynolds numbers
- 4.6. The resistive-force theory
- 4.7. Surface effects
- 4.8. Materials properties
- References
- Part II: Internally actuated swimming soft microrobots
- Chapter 5: Principles of propulsion by flagella and cilia
- Abstract
- 5.1. Modeling framework
- 5.2. Swimming velocity using Stokeslets theory
- 5.3. Swimming velocity using RFT (revisited)
- 5.4. Flagellar kinematics
- 5.5. Modeling of the governing equations
- 5.6. Fourier analysis of the wave pattern
- 5.7. Bending moments in an active flagellum
- References
- Chapter 6: Examples
- Abstract
- 6.1. Calculation of the instantaneous velocities
- 6.2. Bull spermatozoa swimming
- 6.3. Spermbot swimming
- 6.4. Sperm-bead assembly swimming
- References
- Part III: Externally actuated swimming soft microrobots
- Chapter 7: Principles of propulsion by magnetically actuated soft bodies
- Abstract
- 7.1. Small deformation flagellar propulsion
- 7.2. Near surface effects
- 7.3. Step-out frequency
- 7.4. Large deformation (revisited)
- References
- Chapter 8: Examples
- Abstract
- 8.1. MagnetoSperm swimming
- 8.2. Two-tailed soft microrobot swimming
- 8.3. Soft microrobots with distributed actuation
- References
- Part IV: Localization and motion control of soft microrobots
- Chapter 9: Localization of soft microrobots
- Abstract
- 9.1. Tracking using microscopic images
- 9.2. Tracking motion features
- 9.3. Tracking time-dependent flagellar beat
- 9.4. Ultrasound feedback of microrobots
- 9.5. X-ray feedback of microrobots
- 9.6. Magnetic tracking
- References
- Chapter 10: Open-loop control of soft microrobots
- Abstract
- 10.1. Modeling and control system design
- 10.2. Magnetic torque on microrobot with soft-magnet (revisited)
- 10.3. Electromagnetic-based manipulation
- 10.4. Permanent magnet-based manipulation
- 10.5. Examples
- 10.6. Open-loop dynamics
- References
- Chapter 11: Closed-loop control of soft microrobots
- Abstract
- 11.1. Modeling and control system design
- 11.2. Low-dimensional model with stable limit cycle
- 11.3. Kinematic control
- 11.4. Dynamic control
- 11.5. Uniform boundedness of viscous drag
- 11.6. Examples
- References
- Appendix A: Quantities and units
- Appendix B: Mathematical derivations
- B.1. Euler–Bernoulli beam
- B.2. The four roots of −i
- Appendix C: Electromagnetic systems
- C.1. Tri-axial Helmholtz coils
- C.2. Four electromagnetic coils with orthogonal configuration
- C.3. Eight electromagnetic coils
- Appendix D: Material constants
- Index
- Edition: 1
- Published: June 22, 2021
- No. of pages (Paperback): 240
- No. of pages (eBook): 240
- Imprint: Academic Press
- Language: English
- Paperback ISBN: 9780128169452
- eBook ISBN: 9780128169445
IS
Islam S.M. Khalil
IIslam S.M. Khalil received his Ph.D. degree in mechatronics engineering from Sabanci University in 2011 and became a postdoctoral research associate with the Robotics and Mechatronics research group and MIRA–Institute for Biomedical Technology and Technical Medicine, University of Twente, The Netherlands. In 2014, he became an assistant professor with the German University in Cairo, Egypt, Department of Mechatronics, where he directed the Medical Micro and Nano Robotics Laboratory. In 2018, he was appointed as associate professor at the same department. In 2019, he became an assistant professor with the University of Twente, Department of Biomechanical Engineering. His research interests include modeling, design, and control of soft microrobots, biologically inspired systems, motion control systems, mechatronics system design, and untethered magnetic micro/nanorobotics with applications to micro/nanomanipulation, magnetic manipulation, and targeted drug delivery.
Affiliations and expertise
Assistant Professor at the Department of Biomechanical Engineering, University of Twente, the NetherlandAK
Anke Klingner
Anke Klingner received the Diploma and Ph.D. degrees in physics from TU Dresden (Germany) and Ulm University (Germany). She is currently an Assistant Professor with the German University in Cairo.
For three years she was a researcher and teaching assistant with the University Ulm German. Her research interests include nanotechnology, electrospinning, microfluidic devices, mechanical behavior of polymers, modeling of biologically inspired microrobots, microrobotics, magnetics, fluid dynamics, and characterization of microrobotic systems.
Affiliations and expertise
Department of Mechanics, German University in Cairo, Cairo, EgyptSM
Sarthak Misra
Sarthak Misra joined the University of Twente in 2009. He is a Professor in the Department of Biomechanical Engineering within the Faculty of Engineering Technology. He directs the Surgical Robotics Laboratory, and is affiliated with MIRA - Institute for Biomedical Technology and Technical Medicine. He is also affiliated with the Department of Biomedical Engineering, University of Groningen and University Medical Center Groningen. Sarthak obtained his doctoral degree in the Department of Mechanical Engineering at the Johns Hopkins University, Baltimore, USA. Prior to commencing his studies at Johns Hopkins, he worked for three years as a dynamics and controls analyst at MacDonald Dettwiler and Associates on the International Space Station Program. Sarthak received his Master of Engineering degree in Mechanical Engineering from McGill University, Montreal, Canada. He is the recipient of the European Research Council (ERC) Consolidator, Starting and Proof-of-Concept grants, Netherlands Organization for Scientific Research (NWO) VENI and VIDI awards, Link Foundation fellowship, McGill Major fellowship, and NASA Space Flight Awareness award. He is the co-chair of the IEEE Robotics and Automation Society Technical Committee on Surgical Robotics, and area co-chair of the IFAC Technical Committee on Biological and Medical Systems. Sarthak’s broad research interests are primarily in the area of applied mechanics at both macro and micro scales. He is interested in the modeling and control of electro-mechanical systems with applications to medical robotics.
Affiliations and expertise
Professor, Department of Biomechanical Engineering, University of Twente, Faculty of Engineering Technology, The NetherlandsRead Mathematical Modeling of Swimming Soft Microrobots on ScienceDirect