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Maintaining stable internal representations of continuous variables is fundamental for effective robotic control. Continuous attractor networks provide a biologically inspired mechanism for encoding such variables, yet neuromorphic…
A fundamental problem in neuroscience is to understand how sequences of action potentials ("spikes") encode information about sensory signals and motor outputs. Although traditional theories of neural coding assume that information is…
Demonstrating and quantifying the respective roles of social interactions and external stimuli governing fish dynamics is key to understanding fish spatial distribution. If seminal studies have contributed to our understanding of fish…
Marine microorganisms must cope with complex flow patterns and even turbulence as they navigate the ocean. To survive they must avoid predation and find efficient energy sources. A major difficulty in analysing possible survival strategies…
Neural oscillations are universal phenomena and can be observed at different levels of neural systems, from single neuron to macroscopic brain. The frequency of those oscillations are related to the brain functions. However, little is know…
Neural responses are highly variable, and some portion of this variability arises from fluctuations in modulatory factors that alter their gain, such as adaptation, attention, arousal, expected or actual reward, emotion, and local metabolic…
This paper addresses distributed robust learning-based control for consensus formation tracking of multiple underwater vessels, in which the system parameters of the marine vessels are assumed to be entirely unknown and subject to the…
A sudden change in dynamics produces large errors leading to increases in muscle co-contraction and feedback gains during early adaptation. We previously proposed that internal model uncertainty drives these changes, whereby the…
Bio-inspired underwater vehicles could yield improved efficiency, maneuverability, and environmental compatibility over conventional propeller-driven underwater vehicles. However, to realize the swimming performance of biology, there is a…
Guiding active microswimmers by external fields to requested target locations is a promising strategy to realize complex transport on the microscale. To this end, one possibility consists of attaching the microswimmers to orientable passive…
Biological systems, such as the octopus, exhibit masterful cross-scale manipulation by adaptively reconfiguring their entire form, a capability that remains elusive in robotics. Conventional soft grippers, while compliant, are mostly…
Anticipated synchronization (AS) is a counter intuitive behavior that has been observed in several systems. When AS establishes in a sender-receiver configuration, the latter can predict the future dynamics of the former for certain…
Collective motion is one of the most ubiquitous behaviours displayed by social organisms and has led to the development of numerous models. Recent advances in the understanding of sensory system and information processing by animals impel…
Biological systems (among others) may respond to a large variety of distinct external stimuli, or signals. These perturbations will generally be presented to the system not singly, but in various combinations, so that a proper understanding…
Collective behaviour in living systems is observed across many scales, from bacteria to insects, to fish shoals. Zebrafish have emerged as a model system amenable to laboratory study. Here we report a three-dimensional study of the…
Maintaining upright posture is a complex task governed by the integration of afferent sensorimotor and visual information with compensatory neuromuscular reactions. The objective of this work was to characterize the visual dependency and…
We develop a biophysically realistic model of the nematode C. elegans that includes: (i) its muscle structure and activation, (ii) key connectomic activation circuitry, and (iii) a weighted and time-dynamic proprioception. In combination,…
Synaptic connections in neuronal circuits are modulated by pre- and post-synaptic spiking activity. Heuristic models of this process of synaptic plasticity can provide excellent fits to results from in-vitro experiments in which pre- and…
Stick insect stepping patterns have been studied for insights about locomotor rhythm generation and control, because the underlying neural system is relatively accessible experimentally and produces a variety of rhythmic outputs. Harnessing…
Micron-size self-propelling particles are often proposed as synthetic models for biological microswimmers, yet they lack internally regulated adaptation, which is central to the autonomy of their biological counterparts. Conversely,…