Flocks of Artificially Intelligent Swimming Micro-Robots with Long-Range Hydrodynamic Interaction and Objectives
نام عام مواد
[Thesis]
نام نخستين پديدآور
Mirzakhanloo, Mehdi
نام ساير پديدآوران
Alam, Mohammad-Reza
وضعیت نشر و پخش و غیره
نام ناشر، پخش کننده و غيره
University of California, Berkeley
تاریخ نشرو بخش و غیره
2020
يادداشت کلی
متن يادداشت
123 p.
یادداشتهای مربوط به پایان نامه ها
جزئيات پايان نامه و نوع درجه آن
Ph.D.
کسي که مدرک را اعطا کرده
University of California, Berkeley
امتياز متن
2020
یادداشتهای مربوط به خلاصه یا چکیده
متن يادداشت
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.
اصطلاحهای موضوعی کنترل نشده
اصطلاح موضوعی
Mechanical engineering
اصطلاح موضوعی
Robotics
نام شخص به منزله سر شناسه - (مسئولیت معنوی درجه اول )