A Numerical Approach to the Optimal Control and Efficiency of the Copepod Swimmer

Abstract : This article presents a geometric and numericalapproach to compute the optimal swimming strokes of a larvalcopepod. A simplified model of locomotion at low Reynoldsnumber is analyzed in the framework of Sub-Riemanniangeometry. Both normal and abnormal geodesics are consideredalong which the mechanical power dissipated by the swimmeris conserved. Numerical simulations show that, among variousperiodic strokes, a normal stroke consisting of a simple loopshape is maximizing the efficiency.
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Submitted on : Monday, October 24, 2016 - 11:28:12 AM
Last modification on : Thursday, August 1, 2019 - 10:20:03 AM

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Bernard Bonnard, Monique Chyba, Jérémy Rouot, Daisuke Takagi. A Numerical Approach to the Optimal Control and Efficiency of the Copepod Swimmer. 55th IEEE Conference on Decision and Control - CDC, Dec 2016, Las Vegas, United States. pp.4196-4201, ⟨10.1109/CDC.2016.7798906⟩. ⟨hal-01286602v3⟩

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