2026-09-19T23:57:08Z https://www.ideals.illinois.edu/oai-pmh

oai:www.ideals.illinois.edu:2142/31200 2023-07-10 col_2142_5131 col_2142_14787 com_2142_5130 com_2142_9630 com_2142_234

Bretl, Timothy W. Orduno, Carlos 2012-05-22T00:35:13Z 2012-05-22T00:35:13Z 2012-05 2012-05-22T00:35:13Z 2012-05 This thesis presents a control strategy based on model learning for a self-assembled robotic “swimmer”. The swimmer forms when a liquid suspension of ferro-magnetic micro-particles and a non-magnetic bead are exposed to an alternating magnetic field that is oriented per- pendicular to the liquid surface [1]. It can be steered by modulating the frequency of the alternating field. We model the swimmer as a unicycle and learn a mapping from frequency to forward speed and turning rate using locally-weighted projection regression. We apply iterative linear quadratic regulation with a receding horizon to track motion primitives that could be used for path following. Hardware experiments validate our approach. Item withdrawn by Mark Zulauf (zulauf@illinois.edu) on 2012-04-24T14:19:00Z Item was in collections: University of Illinois Theses & Dissertations (ID: 1) No. of bitstreams: 1 Orduno_Carlos.pdf: 4338617 bytes, checksum: 7aafd2f8d22acffefc57af12e5e0d602 (MD5) Made available in DSpace on 2012-05-22T00:35:13Z (GMT). No. of bitstreams: 2 Orduno_Carlos.pdf: 4338617 bytes, checksum: 7aafd2f8d22acffefc57af12e5e0d602 (MD5) license.txt: 4062 bytes, checksum: fa49ddf0fc9783ee21b61db91a102190 (MD5) http://hdl.handle.net/2142/31200 en Copyright 2012 Carlos Orduno Self-Organised Robot Systems Modeling and control of a self-assembled robotic swimmer text Mechanical Sci & Engineering 1917 Mechanical Engineering 0133 University of Illinois at Urbana-Champaign Thesis M.S. MS:Mechanical Engineerng -UIUC 10KS0133MS