Fantino, M. Maxime (2023) CELLOIDS project - characterization and optimization of ultra-deformable particle-based microrobots PFE - Project Graduation, ENSTA.
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Abstract
This work is in line with the study of the dynamics of interacting microparticles acting as the motor component of a deformable bioinspired microrobot in development. It is mostly based on a simulation tool and can be separated into three parts. The first one concerns the search for the best microparticles physical parameters to induce collective motion beneficial for the overall microrobot mobility. The optimization framework, code integration and preliminary study are presented. The second part, with the aim of improving simulator performance, deals with the implementation of a code parallelization strategy. The evaluation setup together with the results are provided. The final part is dedicated to the subject of automatic model inference for the interacting microparticles. The so called SINDy algorithm is the main subject of discussion. Preliminary related tests and results are presented.
Item Type: | Thesis (PFE - Project Graduation) |
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Uncontrolled Keywords: | microrobotics, active particles, emergence, optimization, parallelization, model inference |
Subjects: | Information and Communication Sciences and Technologies Mathematics and Applications |
ID Code: | 9946 |
Deposited By: | Maxime Fantino |
Deposited On: | 05 févr. 2024 18:01 |
Dernière modification: | 05 févr. 2024 18:01 |
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