عنوان

Flocks of Artificially Intelligent Swimming Micro-Robots with Long-Range Hydrodynamic Interaction and Objectives

Number

TLpq2511904411

.Language of Text, Soundtrack etc

انگلیسی

Title Proper

Flocks of Artificially Intelligent Swimming Micro-Robots with Long-Range Hydrodynamic Interaction and Objectives

General Material Designation

[Thesis]

First Statement of Responsibility

Mirzakhanloo, Mehdi

Subsequent Statement of Responsibility

Alam, Mohammad-Reza

Name of Publisher, Distributor, etc.

University of California, Berkeley

Date of Publication, Distribution, etc.

2020

Specific Material Designation and Extent of Item

123

Dissertation or thesis details and type of degree

Ph.D.

Body granting the degree

University of California, Berkeley

Text preceding or following the note

2020

Text of Note

This dissertation addresses various aspects of realizing a three-dimensional (3D) controlled flock of swimming micro-robots that operate in, and cooperatively influence, viscous fluid environments. A systematic approach is then presented to equip the agents with an adaptive decision-making intelligence, so as to enable flocks of these artificially intelligent swimming micro-robots to achieve various objectives in the presence of flow-mediated interactions. In the first part of this dissertation, we introduce a versatile swimming robot with full 3D maneuverability in viscous environments. The experimental realization of this artificial low-Reynolds swimmer is then reported, and a hierarchical control strategy is implemented to perform various swimming maneuvers. The major challenge, which makes the swarm-control of swimming micro-robots substantially different from other well-studied swarms, is the presence of long-range flow-mediated (i.e. hydrodynamic) interactions. Therefore, the second part of this dissertation is devoted to the investigation of swarm hydrodynamics, including mutual interactions between these micro-swimmers, and their behavior in vicinity of solid boundaries. In particular, we unveil orbital topologies of interacting micro-swimmers, and report diverse families of attractors including dynamical equilibria, bound orbits, braids, and pursuit-evasion games. The third part of this dissertation is focused on optimal swarm-control strategies for swimming micro-robots to achieve various objectives in the presence of flow-mediated interactions. We show that micro-swimmers can form a concealed swarm through synergistic cooperation in suppressing one another's disturbing flows. Various control schemes are then demonstrated for the concealed swarming and stealthy maneuvers of swimming micro-robots. We also discuss how state-of-the-art reinforcement learning algorithms can be used to realize flocks of artificially intelligent swimming micro-robots. Specifically, a systematic approach is presented to equip the swimming micro-robots with an adaptive decision-making intelligence in response to non-linearly varying hydrodynamic loads. Flocks of these artificially intelligent micro-swimmers are then deployed to actively cloak swimming targets in a crowded environment. This study provides a road-map toward engineering cooperative flocks of smart micro-swimmers capable of accomplishing a new class of group-objectives. We, therefore, hope that it will spur further research on this field at the intersection of fluid mechanics, robotics and artificial intelligence.

Mechanical engineering

Robotics

Alam, Mohammad-Reza

Mirzakhanloo, Mehdi

Electronic name

p

[Thesis]

276903

a

Y