{"title":"A Numerical Strategy to Design Maneuverable Micro-Biomedical Swimming Robots Based on Biomimetic Flagellar Propulsion","authors":"Arash Taheri, Meysam Mohammadi-Amin, Seyed Hossein Moosavy","volume":30,"journal":"International Journal of Mechanical and Materials Engineering","pagesStart":712,"pagesEnd":717,"ISSN":"1307-6892","URL":"https:\/\/publications.waset.org\/pdf\/12658","abstract":"Medical applications are among the most impactful\r\nareas of microrobotics. The ultimate goal of medical microrobots is\r\nto reach currently inaccessible areas of the human body and carry out\r\na host of complex operations such as minimally invasive surgery\r\n(MIS), highly localized drug delivery, and screening for diseases at\r\ntheir very early stages. Miniature, safe and efficient propulsion\r\nsystems hold the key to maturing this technology but they pose\r\nsignificant challenges. A new type of propulsion developed recently,\r\nuses multi-flagella architecture inspired by the motility mechanism of\r\nprokaryotic microorganisms. There is a lack of efficient methods for\r\ndesigning this type of propulsion system. The goal of this paper is to\r\novercome the lack and this way, a numerical strategy is proposed to\r\ndesign multi-flagella propulsion systems. The strategy is based on the\r\nimplementation of the regularized stokeslet and rotlet theory, RFT\r\ntheory and new approach of \u201clocal corrected velocity\". The effects of\r\nshape parameters and angular velocities of each flagellum on overall\r\nflow field and on the robot net forces and moments are considered.\r\nThen a multi-layer perceptron artificial neural network is designed\r\nand employed to adjust the angular velocities of the motors for\r\npropulsion control. The proposed method applied successfully on a\r\nsample configuration and useful demonstrative results is obtained.","references":"[1] T. Fukuda, A. Kawamoto, F. Arai, and H. Matsuura, \"Mechanism and\r\nswimming experiment of micro mobile robot in water,\" Proc. of IEEE\r\nInt'l Workshop on Micro Electro Mechanical Systems (MEMS'94),\r\npp.273-278, 1994.\r\n[2] S. Guo, Y. Hasegaw, T. Fukuda, and K. Asaka, \"Fish -Like underwater\r\nmicrorobot with multi DOF,\" Proc. of 200 International Symposium on\r\nMicromechatronics and Human Science, pp. 63-68, 2001.\r\n[3] J. Jung, B. Kim, Y. Tak and J. Park, \"Undulatory tadpole robot\r\n(TadRob) using ionic polymer metal composite (IMPC) actuator,\" Proc.\r\nof the 2003 IEEE\/RSJ International Conference on Intelligent Robots\r\nand Systems, pp. 2133-2138, 2003.\r\n[4] T. Honda, K. Arai and K. Ishiyama, \"Effect of micro machine shape on\r\nswimming properties of the spiral-type magnetic micro-machine,\" IEEE\r\nTransaction on Magnetics, vol. 35, pp. 3688-3690, 1999.\r\n[5] B. Behkam, M. Sitti, \"Design Methodology for biomemitic propulsion of\r\nminiature Swimming Robots,\" J. Dynamic Systems Measurement and\r\nControl, Vol. 128, pp.l36-43, 2006.\r\n[6] H. Flores, E. Lobaton, S. Mendez-Diez, S. Tluvapova and R. Cortez, \"A\r\nstudy of bacterial flagellar bundling,\" Bulletin of Mathematical Biology,\r\nvol. 67, pp.137-168, 2005.\r\n[7] H. Berg, \"The Rotary Motor of Bacterial Flagella,\" Annual Review of\r\nBiochemistry, Vol.72, pp. 19-54, 2003.\r\n[8] A. Taheri. M. Mohammadi-Amin,\"Towards a multi-flagella architecture\r\nfor E.Coli Inspired swimming microrobot propulsion,\" Proc. 8th World\r\nCongress on computational mechanics & 5th European Congress on\r\nComputational Methods in Applied Sciences and Engineering ,Venice,\r\nItaly, 30 June-4 July, 2008.\r\n[9] R. Cortez, \"The method of regularized stokeslet,\" SIAM J. of Sci.\r\nComputing, Vol. 23, pp.1204-1225, 2001.\r\n[10] R. E. Johnson, and C. J. Brokaw, \"Flagellar hydrodynamics: A\r\ncomparison between resistive-force theory and slender-body theory,\"\r\nBiophys. J., Vol.125, pp.113-127, 1979.\r\n[11] M. B. Menhaj, Computational Intelligence: Fundamental of Neural\r\nNetworks, Amirkabir University of Technology Publication, Tehran,\r\n2000.\r\n[12] Y. Zhang, Q. Wang, P. Zhang, X. Wang, and T. Mei, \"Dynamic analysis\r\nand experiment of a 3mm swimming microrobot,\" Proc. of the 2004\r\nIEEE\/RSJ International Conference on Intelligent Robots and Systems,\r\npp. 1746-1750, 2004.","publisher":"World Academy of Science, Engineering and Technology","index":"Open Science Index 30, 2009"}