Related papers: The Kinetic Basis of Morphogenesis
Field dynamics in a rapidly expanding system is investigated by transforming from space-time to the rapidity - proper-time frame. The proper-time dependence of different contributions to the total energy is established. For systems…
We aim to control a robot to physically behave in the real world following any high-level language command like "cartwheel" or "kick". Although human motion datasets exist, this task remains particularly challenging since generative models…
Tendon-driven continuum robots offer intrinsically safe and contact-rich interactions owing to their kinematic redundancy and structural compliance. However, their perception often depends on external sensors, which increase hardware…
A common issue when analyzing real-world complex systems is that the interactions between the elements often change over time: this makes it difficult to find optimal models that describe this evolution and that can be estimated from data,…
The generation of anisotropic shapes occurs during morphogenesis of almost all organisms. With the recent renewal of the interest in mechanical aspects of morphogenesis, it has become clear that mechanics contributes to anisotropic forms in…
The homogeneous partly pinned fluid systems are simple models of a fluid confined in a disordered porous matrix obtained by arresting randomly chosen particles in a one-component bulk fluid or one of the two components of a binary mixture.…
Continuum hydrodynamic models of active liquid crystals have been used to describe dynamic self-organising systems such as bacterial swarms and cytoskeletal gels. A key prediction of such models is the existence of self-stabilising kink…
In this work, we introduce LazyBoE, a multi-query method for kinodynamic motion planning with forward propagation. This algorithm allows for the simultaneous exploration of a robot's state and control spaces, thereby enabling a wider suite…
A model of self-driven particles similar to the Vicsek model [Phys. Rev. Lett. 75 (1995) 1226] but with metric-free interactions is studied by means of a novel Enskog-type kinetic theory. In this model, N particles of constant speed v0 try…
This article extends the capabilities of the harmonic potential field approach to planning to cover both the kinematic and dynamic aspects of a robot motion. The suggested approach converts the gradient guidance field from a harmonic…
The sine-Gordon model with space- and time-dependent parameters is considered. A highly accurate effective model with two degrees of freedom is constructed, allowing the description of the kink movement in this model even for extremely long…
Biological systems often involve the self-assembly of basic components into complex and function- ing structures. Artificial systems that mimic such processes can provide a well-controlled setting to explore the principles involved and also…
We introduce a generic, purely mechanical model for environment sensitive motion of mammalian cells that is applicable to chemotaxis, haptotaxis, and durotaxis as modes of motility. It is able to theoretically explain all relevant…
We describe a hybrid agent-based model and simulation of urban morphogenesis. It consists of a cellular automata grid coupled to a dynamic network topology. The inherently heterogeneous properties of urban structure and function are taken…
In this paper, we focus on generating complex robotic trajectories by merging sequential motion primitives. A robotic trajectory is a time series of positions and orientations ending at a desired target. Hence, we first discuss the…
The paper addresses kinematic and geometrical aspects of the Orthoglide, a three-DOF parallel mechanism. This machine consists of three fixed linear joints, which are mounted orthogonally, three identical legs and a mobile platform, which…
A large variety of real systems are composed by entities in relationships which can be represented by networks. In many of these systems, elements are embedded in the space and location information impacts properties and evolution. Local…
Koopman operator based models emerged as the leading methodology for machine learning of dynamical systems. But their scope is much larger. In fact they present a new take on modeling of physical systems, and even language. In this article…
Based on recent experiments with time-lapse fluorescent imaging, we propose a cellular automaton model for the dynamics of vascular endothelial cells (ECs) in angiogenic morphogenesis. The model successfully reproduces cell mixing behavior,…
Organogenesis is a tightly regulated process that has been studied experimentally for decades. Computational models can help to integrate available knowledge and to better understand the underlying regulatory logic. We are currently…