论文标题
按形状和货物尺寸调整微型机器人的上游游泳
Tuning upstream swimming of micro-robots by shape and cargo size
论文作者
论文摘要
在复杂流动环境中微型机器人的导航受风湿的控制，这是相对于流量梯度的重新定位。在这里，我们证明了如何利用有效载荷来增强对流动的运动。使用完全分辨的流体动力模拟，描述了使不同形状的微型机器人重新定向上游的机制。我们发现，货物拉拔器在大多数流动强度上都是最快的，但是推动器具有非平凡的最佳功率，这是反向流量强度的函数。此外，通过调整微型机器人形状或货物尺寸，可以最大程度地提高风湿性性能。这些结果可用于控制微型游轮导航，但它们也适用于微生物生态学中的类风湿病和预防细菌污染动力学。
The navigation of micro-robots in complex flow environments is controlled by rheotaxis, the reorientation with respect to flow gradients. Here we demonstrate how payloads can be exploited to enhance the motion against flows. Using fully resolved hydrodynamic simulations, the mechanisms are described that allow micro-robots of different shapes to reorient upstream. We find that cargo pullers are the fastest at most flow strengths, but pushers feature a non-trivial optimum as a function of the counter flow strength. Moreover, the rheotactic performance can be maximised by tuning the micro-robot shape or cargo size. These results may be used to control micro-swimmer navigation, but they also apply to rheotaxis in microbial ecology and the prevention of bacterial contamination dynamics.
