Related papers: Learning to swim in potential flow
This paper studies the fish growth trajectory tracking via reinforcement learning under a representative bioenergetic growth model. Due to the complex aquaculture condition and uncertain environmental factors such as temperature, dissolved…
Optimal gait design is important for micro-organisms and micro-robots that propel themselves in a fluid environment in the absence of external force or torque. The simplest models of shape changes are those that comprise a series of…
In this article we consider shape optimization problems as optimal control problems via the method of mappings. Instead of optimizing over a set of admissible shapes a reference domain is introduced and it is optimized over a set of…
The optimal strategy for a microscopic swimmer to migrate across a linear shear flow is discussed. The two cases, in which the swimmer is located at large distance, and in the proximity of a solid wall, are taken into account. It is shown…
Aquatic creatures exhibit remarkable adaptations of their body to efficiently interact with the surrounding fluid. The tight coupling between their morphology, motion, and the environment are highly complex but serves as a valuable example…
Cells swimming in viscous fluids create flow fields which influence the transport of relevant nutrients, and therefore their feeding rate. We propose a modeling approach to the problem of optimal feeding at zero Reynolds number. We consider…
Learning the inverse dynamics of soft continuum robots remains challenging due to high-dimensional nonlinearities and complex actuation coupling. Conventional feedback-based controllers often suffer from control chattering due to corrective…
Controlled gliding is one of the most energetically efficient modes of transportation for natural and human powered fliers. Here we demonstrate that gliding and landing strategies with different optimality criteria can be identified through…
The lateral-line system that has evolved in many aquatic animals enables them to navigate murky fluid environments, locate and discriminate obstacles. Here, we present a data-driven model that uses artificial neural networks to process flow…
Autonomous underwater gliders use buoyancy control to achieve forward propulsion via a sawtooth-like, rise-and-fall trajectory. Because gliders are slow-moving relative to ocean currents, glider control must consider the effect of oceanic…
Inspired by the classical Kepler and Rutherford problem, we investigate an analogous set-up in the context of active microswimmers: the behavior of a deformable microswimmer in a swirl flow. First we identify new steady bound states in the…
Swimming in curved spacetimes is a phenomenon whereby free bodies in curved spacetimes are able to propel themselves by performing cyclic internal motions. When originally proposed, it was further suggested that, in the limit of fast…
Fish rheotaxis, or alignment into flow currents, results from intertwined sensory, neural and actuation mechanisms, all coupled with hydrodynamics to produce a behavior that is critical for upstream migration and position holding in…
This expository review is devoted to fish swimming and bird/insect flight. (i) The simple waving motion of an elongated flexible ribbon plate of constant width, immersed in a fluid at rest, propagating a wave distally down the plate to swim…
The behavior of living systems is based on the experience they gained through their interactions with the environment [1]. This experience is stored in the complex biochemical networks of cells and organisms to provide a relationship…
This paper describes the modeling of a custom-made underwater glider capable of flexible maneuvers in constrained areas and proposes a control system. Due to the lack of external actuators, underwater gliders can be greatly influenced by…
A simple nonholonomic dynamics model is developed as a low-order model for generating undulatory swim-like motions, validated through computational fluid dynamics (CFD) simulations. The rigid-body-dynamics model generates swimming motion by…
Swimming by shape changes at low Reynolds number is widely used in biology and understanding how the efficiency of movement depends on the geometric pattern of shape changes is important to understand swimming of microorganisms and in…
Metachronal paddling is a swimming strategy in which an organism oscillates sets of adjacent limbs with a constant phase lag, propagating a metachronal wave through its limbs and propelling it forward. This limb coordination strategy is…
Morphing is a long-standing problem in vision and computer graphics, requiring a time-dependent warping for feature alignment and a blending for smooth interpolation. Recently, multilayer perceptrons (MLPs) have been explored as implicit…