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Geometric Control of Particle Manipulation in a TwoDimensional Fluid 
Abstract 
Manipulation of particles suspended in flu … Manipulation of particles suspended in fluids is crucial for many applications, such as precision machining, chemical processes, bioengineering, and selffeeding of microorganisms. In this paper, we study the problem of particle manipulation by cyclic fluid boundary excitations from a geometriccontrol viewpoint. We focus on the simplified problem of manipulating a single particle by generating controlled cyclic motion of a circular rigid body in a twodimensional perfect fluid. We show that the drift in the particle location after one cyclic motion of the body can be interpreted as the geometric phase of a connection induced by the system's hydrodynamics. We then formulate the problem as a control system, and derive a geometric criterion for its nonlinear controllability. Moreover, by exploiting the geometric structure of the system, we explicitly construct a feedbackbased gait that results in attraction of the particle towards the rigid body. We argue that our gait is robust and modelindependent, and demonstrate it in both perfect fluid and Stokes fluid. it in both perfect fluid and Stokes fluid. +


Authors  Yizhar Or, Joris Vankerschaver, Scott D Kelly, Richard M Murray, Jerrold E Marsden + 
ID  2009c + 
Source  Conference on Decision and Control (CDC) + 
Tag  or+09cdc + 
Title  Geometric Control of Particle Manipulation in a TwoDimensional Fluid + 
Type  Preprint + 
Categories  Papers 
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15 May 2016 06:16:40 + 
URL This property is a special property in this wiki.

http://www.cds.caltech.edu/~murray/preprints/or+09cdc.pdf + 
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Geometric Control of Particle Manipulation in a TwoDimensional Fluid +  Title 
