MIME

MIcrorobotics Multiphysics Engine — the physics layer of the Microrobotics Simulation Framework. MIME extends MADDENING with the specific node families needed to simulate magnetically actuated microrobots in confined biological flows: rigid-body chains, magnetic response, low-Reynolds hydrodynamics (Stokeslet, IBM-FVM with optional GNN correction), and the actuation/sensing chain that bridges to the MICROROBOTICA IDE.

Algorithm Guide

• Defect Correction Method for Confined Microrobot Drag
  • 1. Algorithm
  • 2. Why Each Component Is Needed
  • 3. Validation Results
  • 4. Performance Analysis
  • 5. Key Properties
  • 6. Analysis
  • 7. Comparison Table
  • 8. References
• [Node Name]
  • Summary
  • Governing Equations
  • Discretization
  • Implementation Mapping
  • Assumptions and Simplifications
  • Validated Physical Regimes
  • Known Limitations and Failure Modes
  • Stability Conditions
  • State Variables
  • Parameters
  • Boundary Inputs
  • Boundary Fluxes (outputs)
  • MIME-Specific Sections
  • References
  • Verification Evidence
  • Changelog
• CSF Flow Node
  • Summary
  • Governing Equations
  • Discretization
  • Implementation Mapping
  • Assumptions and Simplifications
  • Validated Physical Regimes
  • Known Limitations and Failure Modes
  • State Variables
  • Parameters
  • Boundary Inputs
  • Boundary Fluxes (outputs)
  • MIME-Specific Sections
  • References
  • Verification Evidence
  • Changelog
• External Magnetic Field Node
  • Summary
  • Governing Equations
  • Discretization
  • Implementation Mapping
  • Assumptions and Simplifications
  • Validated Physical Regimes
  • Known Limitations and Failure Modes
  • Stability Conditions
  • State Variables
  • Parameters
  • Boundary Inputs
  • Boundary Fluxes (outputs)
  • MIME-Specific Sections
  • References
  • Verification Evidence
  • Changelog
• Flexible Body Node
  • Summary
  • Governing Equations
  • Discretization
  • Implementation Mapping
  • Assumptions and Simplifications
  • Validated Physical Regimes
  • Known Limitations and Failure Modes
  • State Variables
  • Parameters
  • References
  • Verification Evidence
  • Changelog
• Magnetic Response Node
  • Summary
  • Governing Equations
  • Discretization
  • Implementation Mapping
  • Assumptions and Simplifications
  • Validated Physical Regimes
  • Known Limitations and Failure Modes
  • State Variables
  • Parameters
  • Boundary Inputs
  • Boundary Fluxes (outputs)
  • MIME-Specific Sections
  • References
  • Verification Evidence
  • Changelog
• Motor Node
  • Summary
  • Governing Equations
  • Discretization
  • Implementation Mapping
  • Assumptions and Simplifications
  • Validated Physical Regimes
  • Known Limitations and Failure Modes
  • Stability Conditions
  • State Variables
  • Parameters
  • Boundary Inputs
  • Boundary Fluxes (outputs)
  • MIME-Specific Sections
  • References
  • Verification Evidence
  • Changelog
• Permanent Magnet Node
  • Summary
  • Governing Equations
  • $$ B_z^{\text{coul}}(z) = \frac{\mu_0 M}{2} \left[ \frac{z + L/2}{\sqrt{R^2 + (z + L/2)^2}}
• $$ \bigl[\nabla \mathbf{B}\bigr]_{ij} = \frac{\partial B_i}{\partial x_j}
  • Discretization
  • Implementation Mapping
  • Assumptions and Simplifications
  • Validated Physical Regimes
  • Known Limitations and Failure Modes
  • Stability Conditions
  • State Variables
  • Parameters
  • Boundary Inputs
  • Boundary Fluxes (outputs)
  • MIME-Specific Sections
  • References
  • Verification Evidence
  • Changelog
• Permanent Magnet Response Node
  • Summary
  • Governing Equations
  • Discretization
  • Implementation Mapping
  • Assumptions and Simplifications
  • Validated Physical Regimes
  • Known Limitations and Failure Modes
  • State Variables
  • Parameters
  • Boundary Inputs
  • Boundary Fluxes (outputs)
  • MIME-Specific Sections
  • References
  • Verification Evidence
  • Changelog
• Phase Tracking Node
  • Summary
  • Governing Equations
  • Discretization
  • Implementation Mapping
  • Assumptions and Simplifications
  • Known Limitations and Failure Modes
  • State Variables
  • Boundary Inputs
  • MIME-Specific Sections
  • References
  • Verification Evidence
  • Changelog
• Rigid Body Node
  • Summary
  • Governing Equations
  • Discretization
  • Implementation Mapping
  • Assumptions and Simplifications
  • Validated Physical Regimes
  • Known Limitations and Failure Modes
  • State Variables
  • Parameters
  • Boundary Inputs
  • MIME-Specific Sections
  • References
  • Verification Evidence
  • Changelog
• RobotArmNode
  • Summary
  • Governing Equations
  • Discretization
  • Implementation Mapping
  • Assumptions and Simplifications
  • Validated Physical Regimes
  • Known Limitations and Failure Modes
  • Stability Conditions
  • State Variables
  • Parameters
  • Boundary Inputs
  • Boundary Fluxes (outputs)
  • MIME-Specific Sections
  • References
  • Verification Evidence
  • Changelog
• Surface Contact Node
  • Summary
  • Governing Equations
  • Discretization
  • Implementation Mapping
  • Assumptions and Simplifications
  • Known Limitations and Failure Modes
  • State Variables
  • Parameters
  • MIME-Specific Sections
  • References
  • Verification Evidence
  • Changelog

Architecture

• IBLBMFluidNode — Onboarding Document
  • 1. Purpose and Context
  • 2. Where to Find Everything
  • 3. Implementation Checklist
  • 4. Key Design Decisions Already Made
  • 5. Known Risks and Things to Watch Out For
  • 6. Verification Plan
  • 7. How This Enables Tier 3
• IBLBMFluidNode Specification
  • 1. Purpose
  • 2. MADDENING Architecture Compatibility
  • 3. Node Interface
  • 4. Bouzidi Q-Value Strategy
  • 5. Coupling Architecture
  • 6. Effort Estimate
  • 7. Dependencies

Deliverables

• MIME Confined-Swimming Benchmark — Technical Summary
  • What we did
  • Method
  • Headline results
  • Lubrication correction (April-14, honest negative result)
  • Dynamic simulation
  • MADDENING graph topology
  • What’s validated
  • Limitations and next steps
  • Where the code lives
  • Reproduction
  • References
  • Appendix A — Phase-1 foundation validations (April 2026)

Validation

• Context of Use (COU) Template — MIME
  • 1. Question of Interest
  • 2. Quantities of Interest
  • 3. Model Influence
  • 4. Decision Consequence
  • 5. Risk Assessment
  • 6. Credibility Goals
  • 7. Evidence Plan
• MIME SOUP Package Document
  • 1. Software Identification
  • 2. Functional Description
  • 3. Known Anomalies
  • 4. Verification Evidence
  • 5. IEC 62304 Lifecycle Activities
  • 6. Configuration Management
  • 7. Anomaly Management Policy
  • 8. Dependencies (SOUP of SOUP)
• B0 Experimental Dataset: Rodenborn et al. (2013)
  • Citation
  • Why This Dataset
  • Robot Parameters
  • Fluid Properties
  • Validation Approach for B0
  • Simulation Codes
  • Scaling to Microrobot Parameters
• Bouzidi IBB Diagnostics Report
  • D3: q-value geometric verification
  • D6: Per-link correction magnitude test
  • D1: Single-step analytical verification
  • D2: Momentum injection audit
  • D4: Steady-state velocity profile comparison
  • D5: Feedback isolation test
  • Summary of Findings
  • D7: Feedback amplification pre-test
  • Equilibrium approach — FAILED
  • Fix Plan
  • Final State
• MIME-VER-100 — MotorNode Step Response (Torque Mode, No Load)
  • Goal
  • Configuration
  • Analytical reference (numpy, double precision)
  • Procedure
  • Result
  • Scope and Limitations
  • Reproducibility
• MIME-VER-110 — Permanent-Magnet Field vs Analytical
  • Goal
  • Configuration
  • Analytical references (numpy, double precision)
  • Method
  • Results
  • Verdict: PASS
  • Related notes
• MIME-VER-111 — Permanent-Magnet Field Gradient (jax.jacrev) vs Analytical
  • Goal
  • Configuration
  • Analytical reference
• $$ \frac{\partial B_i}{\partial x_j}
  • Method
  • Results
  • Verdict: PASS
  • Related notes
• MIME-VER-112 — Earth-Field Superposition Exactness
  • Goal
  • Configuration
  • Method
  • Results
  • Verdict: PASS
  • Related notes
• MIME-VER-120 — RobotArmNode Forward Kinematics
  • Goal
  • Configuration
  • Procedure
  • Result
  • Scope and Limitations
  • Reproducibility
• MIME-VER-121 — RobotArmNode Mass-Matrix Symmetry & PD
  • Goal
  • Configuration
  • Procedure
  • Result
  • Scope and Limitations
  • Reproducibility
• MIME-VER-122 — RobotArmNode Free-Fall Round-Trip
  • Goal
  • Configuration
  • Procedure
  • Result
  • Scope and Limitations
  • Reproducibility
• MIME-VER-123 — RobotArmNode Gravity-Compensated Static Hold
  • Goal
  • Configuration
  • Procedure
  • Result
  • Scope and Limitations
  • Reproducibility
• MIME-VER-124 — RobotArmNode Inverse-Dynamics + PD Trajectory Tracking
  • Goal
  • Configuration
  • Procedure
  • Result
  • Scope and Limitations
  • Reproducibility
• MIME-VER-130 — Actuation-Chain Field Equivalence (Far-Field Limit)
  • Goal
  • Configuration
  • Procedure
  • Result
  • Scope and Limitations
  • Reproducibility
• MIME-VER-131 — De Jongh Helical-Swim Reproduction with New Actuation Chain
  • Goal
  • Configuration
  • Procedure
  • Result
  • Scope and Limitations
  • Reproducibility
• MIME-VER-132 — Misalignment-Induced Field Tilt at the UMR
  • Goal
  • Configuration
  • Procedure
  • Result
  • Scope and Limitations
  • Reproducibility
• de Boer et al. (2025) — Extracted Parameters for Tier 1 Replication
  • UMR Geometry
  • Magnetic Properties
  • Swimming Characterisation
  • Figure 12 Data Points (from paper)
  • Swimming Model (Eq. 1)
  • Drag Torque Comparison (Fig. 4d)
  • Rheological Data
  • Vessel Dimensions
  • Wear Model (Reye-Archard-Khrushchov, Eqs. 3-6)
• Fin Resolution Sensitivity Study
  • Physical geometry
  • Key geometry insight
  • Resolution comparison
  • Parameter interpretation note
• Pre-T2.6 Gate: Fin Resolution and Stability
  • Fin resolution study (DONE)
  • Two-pass bounce-back architecture (CONFIRMED)
  • Union SDF (CONFIRMED — optional with two-pass)
  • Mach number guard (CONFIRMED)
  • 128^3 rotating stability check (DONE — PASS, 2026-03-23)
  • Convergence rate (measured at 64^3, 2026-03-23)
  • Cloud rehearsal (DONE — PASS, 2026-03-23)
  • GPU choice (REVISED after rehearsal)
  • Resolution (DECIDED)
  • Revised cost estimate (from measured A100 SXM timing)
  • Decision: PROCEED with T2.6
• Development History — Verification & Validation Evidence
  • Directory Index

Infrastructure

• Docker Image Update Plan
  • Current state
  • Proposed change
  • Steps to implement (deferred)
  • When to implement
  • Risk assessment

Regulatory

• MIME — Intended Use and Regulatory Positioning
  • Platform Positioning Statement
  • Cybersecurity Boundary Statement (MDCG 2019-16)
  • LGPL Replaceability Statement
• IEC 62304 Software Lifecycle Documentation Mapping — MIME
  • Scope
  • Mapping
• Downstream Integration — Dependency Chain and Responsibilities
  • Four-Layer Dependency Chain
  • Per-Layer Responsibility Details
  • Commercial Responsibility Statement