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Optimally swimming Stokesian Robots

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dc.contributor.author Alouges, Francois en_US
dc.contributor.author DeSimone, Antonio en_US
dc.contributor.author Heltai, Luca en_US
dc.contributor.author Lefebvre, Aline en_US
dc.contributor.author Merlet, Benoit en_US
dc.date.accessioned 2010-07-29T11:02:56Z en_US
dc.date.accessioned 2011-09-07T20:19:49Z
dc.date.available 2010-07-29T11:02:56Z en_US
dc.date.available 2011-09-07T20:19:49Z
dc.date.issued 2010-07-29T11:02:56Z en_US
dc.identifier.uri http://preprints.sissa.it/xmlui/handle/1963/3929 en_US
dc.description.abstract We study self propelled stokesian robots composed of assemblies of balls, in dimen- sions 2 and 3, and prove that they are able to control their position and orientation. This is a result of controllability, and its proof relies on applying Chow's theorem in an analytic framework, similarly to what has been done in [3] for an axisymmetric system swimming along the axis of symmetry. However, we simplify drastically the analyticity result given in [3] and apply it to a situation where more complex swimmers move either in a plane or in three-dimensional space, hence experiencing also rotations. We then focus our attention on energetically optimal strokes, which we are able to compute numerically. Some examples of computed optimal strokes are discussed in detail. en_US
dc.format.extent 993075 bytes en_US
dc.format.mimetype application/pdf en_US
dc.language.iso en_US en_US
dc.relation.ispartofseries SISSA;54/2010/M en_US
dc.title Optimally swimming Stokesian Robots en_US
dc.type Preprint en_US
dc.contributor.department Functional Analysis and Applications en_US
dc.contributor.area Mathematics en_US


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