Modeling of a propulsion mechanism for swimming microrobots inspired by ciliate metachronal waves

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Microorganisms have become a source of inspiration because their mechanisms of propulsion are effective at low-Re. We investigated the theoretical performance of swimming microrobots implementing propulsion inspired by metachronal waves. These come from the spontaneous coordination of cilia and are responsible for the high swimming speeds of ciliates. We found that microrobots of typical length below the millimeter could self-propel at speeds of several bodylengths per second. The microrobots were assumed to have a continuous active surface exhibiting traveling-wave deformations that mimic metachronal waves. We developed an FE model for analyzing the performance of propulsion of such bio-inspired microrobots in water. In particular we evaluated how velocity is affected by various parameters, such as the shape and size of the microrobot, and the frequency, wavelength and amplitude of the surface deformations. We believe that the proposed mechanism is advantageous over other methods of propulsion because it does not need external thin and fragile appendages. The results of this analysis could thus guide us towards the design of effective self-propelling microrobots. 漏 2012 IEEE." /> <meta name="DC.contributor" content="Istituto di Biorobotica" xml:lang="*" /> <meta name="DC.contributor" content="529" xml:lang="*" /> <meta name="DC.date" content="2023/05/16 11:29:55" xml:lang="*" scheme="DCTERMS.W3CDTF" /> <meta name="DC.date" content="1684229395387" xml:lang="*" scheme="DCTERMS.W3CDTF" /> <meta name="DC.contributor" content="AREA MIN. 09 - Ingegneria industriale e dell'informazione" xml:lang="*" /> <meta name="DC.contributor" content="AREA MIN. 09 - Ingegneria industriale e dell'informazione" xml:lang="*" /> <meta name="DC.contributor" content="Non assegn" xml:lang="*" /> <meta name="DC.description" content="Palagi S.; Mazzolai B.; Beccai L." xml:lang="en" /> <meta name="DC.description" content="Palagi, S.; Mazzolai, B.; Beccai, L." /> <meta name="citation_title" content="Modeling of a propulsion mechanism for swimming microrobots inspired by ciliate metachronal waves" /> <meta name="citation_author" content="Palagi, S." /> <meta name="citation_author_email" content="stefano.palagi@santannapisa.it" /> <meta name="citation_author" content="Mazzolai, B." /> <meta name="citation_author_email" content="barbara.mazzolai@sssup.it" /> <meta name="citation_author" content="Beccai, L." /> <meta name="citation_author_email" content="lucia.beccai@sssup.it" /> <meta name="citation_date" content="2012" /> <meta name="citation_issn" content="2155-1774" /> <meta name="citation_isbn" content="978-1-4577-1200-5" /> <meta name="citation_journal_title" content="PROCEEDINGS OF THE ... 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class="breadcrumb-item"><a href="/">IRIS</a></li> <li class="breadcrumb-item"><a href="/handle/11382/496815">SIARI SSSUP</a></li> <li class="breadcrumb-item"><a href="/handle/11382/496819">4 Contributo in Atti Convegno (Proceeding)</a></li> <li class="breadcrumb-item"><a href="/handle/11382/496797">4.1 Contributo Atti Congressi/Articoli in extenso</a></li></ol> </form> </nav> <p class="searchIndexItemDescription abstractEng">The envisioned applications of microrobots in bodily fluids have raised the demand for effectively swimming microdevices. Microorganisms have become a source of inspiration because their mechanisms of propulsion are effective at low-Re. We investigated the theoretical performance of swimming microrobots implementing propulsion inspired by metachronal waves. These come from the spontaneous coordination of cilia and are responsible for the high swimming speeds of ciliates. We found that microrobots of typical length below the millimeter could self-propel at speeds of several bodylengths per second. The microrobots were assumed to have a continuous active surface exhibiting traveling-wave deformations that mimic metachronal waves. We developed an FE model for analyzing the performance of propulsion of such bio-inspired microrobots in water. In particular we evaluated how velocity is affected by various parameters, such as the shape and size of the microrobot, and the frequency, wavelength and amplitude of the surface deformations. We believe that the proposed mechanism is advantageous over other methods of propulsion because it does not need external thin and fragile appendages. The results of this analysis could thus guide us towards the design of effective self-propelling microrobots. 漏 2012 IEEE.</p> <div class="row"> <div class="col-lg-12 col-xl-9"> <div class="card"> <div class="card-body"> <div> <h3 class="mb-1 text-secondary">Modeling of a propulsion mechanism for swimming microrobots inspired by ciliate metachronal waves</h3> <h5> <em><span class="contributor internalContributor internalContributordd9e0b33-8977-709e-e053-3705fe0a83fd m-1"><a href="/cris/rp/rp01183" class="authority author">Palagi S.</a><sup class="ms-1"><h6 class="badge bg-info"><span class="fas fa-at" title="Corresponding author"></span></h6></sup>;</span><span class="contributor internalContributor internalContributordd9e0b33-8977-709e-e053-3705fe0a83fd m-1"><a href="/cris/rp/rp00293" class="authority author">Mazzolai B.</a>;</span><span class="contributor internalContributor internalContributordd9e0b33-8977-709e-e053-3705fe0a83fd m-1"><a href="/cris/rp/rp00188" class="authority author">Beccai L.</a></span></em> </h5> <h5>2012-01-01</h5> <hr/> <h4 class="mb-1">Abstract</h4> The envisioned applications of microrobots in bodily fluids have raised the demand for effectively swimming microdevices. Microorganisms have become a source of inspiration because their mechanisms of propulsion are effective at low-Re. We investigated the theoretical performance of swimming microrobots implementing propulsion inspired by metachronal waves. These come from the spontaneous coordination of cilia and are responsible for the high swimming speeds of ciliates. We found that microrobots of typical length below the millimeter could self-propel at speeds of several bodylengths per second. The microrobots were assumed to have a continuous active surface exhibiting traveling-wave deformations that mimic metachronal waves. We developed an FE model for analyzing the performance of propulsion of such bio-inspired microrobots in water. In particular we evaluated how velocity is affected by various parameters, such as the shape and size of the microrobot, and the frequency, wavelength and amplitude of the surface deformations. We believe that the proposed mechanism is advantageous over other methods of propulsion because it does not need external thin and fragile appendages. The results of this analysis could thus guide us towards the design of effective self-propelling microrobots. 漏 2012 IEEE. </div> <div class="dspace-display-item tabbable page-tabs mt-3"> <h5> <ul class="nav nav-tabs border-bottom fw-bold"> <li class="nav-item"><a class="nav-link active" href="#tab_default" onclick="changeItemView('simple');" data-bs-toggle="tab">Scheda breve</a></li> <li class="nav-item"><a class="nav-link " href="#tab_default" onclick="changeItemView('complete');" data-bs-toggle="tab">Scheda completa</a></li> <li class="nav-item"><a class="nav-link " href="#tab_default" onclick="changeItemView('full');" data-bs-toggle="tab">Scheda completa (DC)</a></li> <li class="nav-item"><a class="nav-link" onclick="location.href='/cris/item/11382/546008/statistics'" data-bs-toggle="tab"><span class="far fa-chart-bar"></span></a></li> </ul> </h5> <div class="tab-content"> <div class="tab-pane active fade show" id="tab_default"> <div class="itemDisplayTable container-fluid g-3"> <div class="line form-group row metadataFieldValue pt-2 pb-2 dc_date_issued" id="dc.date.issued_line" > <div class="line-label col-md-12"><label for="dc.date.issued" class="control-label metadataFieldLabel dc_date_issued"> <span class="line-label-text">Anno del prodotto</span> </label></div> <div class="line-content col-sm-12" id="dc.date.issued_content"> <em>2012</em> </div> </div> <div class="line form-group row metadataFieldValue pt-2 pb-2 dc_identifier_isbn" id="dc.identifier.isbn_line" > <div class="line-label col-md-12"><label for="dc.identifier.isbn" class="control-label metadataFieldLabel dc_identifier_isbn"> <span class="line-label-text">Codice ISBN</span> </label></div> <div class="line-content col-sm-12" id="dc.identifier.isbn_content"> <em>978-1-4577-1200-5<br/>978-1-4577-1199-2<br/>978-1-4577-1198-5</em> </div> </div> <div class="line form-group row metadataFieldValue pt-2 pb-2 dspace_collection" id="dspace_collection_line" > <div class="line-label col-md-12"><label for="dspace_collection" class="control-label metadataFieldLabel dspace_collection"> <span class="line-label-text">Appare nelle tipologie:</span> </label></div> <div class="line-content col-sm-12" id="dspace_collection_content"> <a href="/handle/11382/496797">4.1 Contributo Atti Congressi/Articoli in extenso</a> </div> </div> </div> </div> </div> </div></div> </div> <script type="text/x-tmpl" id="tmpLicenseDetail"> <div class="d-flex align-items-center"> {% if (o.licenseImage != null) { %} <div class="flex-shrink-0"> <img src="{%= o.licenseImage %}" /> </div> {% } %} <div class="flex-grow-1 ms-3"> {%# o.licenseName %} </div> </div> </script> <div id="bitstreams" class="card bg-white mt-2"> <div class="card-header">File in questo prodotto:</div> <div class="card-body">Non ci sono file associati a questo prodotto.</div> </div> <div class="col-lg-12 mt-2"> </div> <div class="col-lg-12 mt-2"> <p class="submitFormHelp alert alert-info">I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.</p> </div> </div> <div class="col-lg-12 col-xl-3" id="itemInformationsDiv"> <div id="_line" > <div class="accordion" id="accordion_"> <div class="accordion-item"> <h5 class="accordion-header" id="heading_"> <button class="accordion-button bg-info bg-opacity-25 collapsed" type="button" data-bs-toggle="collapse" data-bs-target="#collapse_" aria-expanded="false" aria-controls="collapse_"><i class="fas fa-info-circle"></i> Informazioni</button> </h5> <div id="collapse_" class="accordion-collapse collapse show" aria-labelledby="heading_" data-bs-parent="#accordion_"> <div class="accordion-body"> Utilizza questo identificativo per citare o creare un link a questo documento: <code>https://hdl.handle.net/11382/546008</code> </div> </div> </div> </div> </div> <script type="text/javascript"> runningExternal=false; 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pmcChartData[3] = (adata.yearTotalMap[''+(year-2)]!=null ? adata.yearTotalMap[''+(year-2)] : 0); pmcChartData[4] = (adata.yearTotalMap[''+(year-1)]!=null ? adata.yearTotalMap[''+(year-1)] : 0); pmcChartData[5] = (adata.yearTotalMap[''+year]!=null ? adata.yearTotalMap[''+year] : 0); drawChart(); }).always(function(adata){ //console.log('end pmcUpdateCitation'); runningExternal=false; }); } </script> <li class="list-group-item d-flex justify-content-between align-items-start"> <a href="http://www.scopus.com/inward/record.url?partnerID=3MLxHJVE&origin=inward&eid=2-s2.0-84867428159" target="_blank" rel="noopener"><img src="https://www.iris.sssup.it/sr/cineca/images/thirdparty/scopus_small.png" style="height: 18px;" alt="Scopus"/></a> <span class="badge bg-secondary rounded-pill" data-bs-toggle="tooltip" data-bs-placement="left" id="scopusCitedResultTotal" title="aggiornato in data 07-11-2024 17:39" >2</span> </li> <script type="text/javascript"> $(document).ready(function() { scopusUpdateCitationQueue(false); 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Modeling of a propulsion mechanism for swimming microrobots inspired by ciliate metachronal waves