Related papers: Sea urchin sperm exploit extremum seeking control …
Sperm swimming is crucial to fertilise the egg, in nature and in assisted reproductive technologies. Modelling the sperm dynamics involves elasticity, hydrodynamics, internal active forces, and out-of-equilibrium noise. Here we demonstrate…
Investigating sperm locomotion in the presence of an external fluid flow and geometries simulating the female reproductive tract can lead to a better understanding of sperm motion during the fertilization process. In this study, using a…
The oral surface of sea stars is lined with arrays of tube feet that enable them to achieve highly controlled locomotion on various terrains. The activity of the tube feet is orchestrated by a nervous system that is distributed throughout…
Swarm foraging is a common test case application for multi-robot systems. In this paper we present a novel algorithm for controlling swarm robots with limited communication range and storage capacity to efficiently search for and retrieve…
Competition among gametes for fertilization imposes strong selection. For external fertilizers, this selective pressure extends to eggs for which spawning conditions can range from sperm limitation (competition among eggs) to sexual…
We consider a model of an intelligent surfer moving on the Ulam network generated by a chaotic dynamics in the Chirikov standard map. This directed network is obtained by the Ulam method with a division of the phase space in cells of fixed…
Sperm are propelled by bending waves travelling along the flagellum. During steering in gradients of sensory cues, sperm adjust the flagellar beat waveform. Symmetric and asymmetric beat waveforms produce straight and curved swimming paths,…
Extremum seeking feedback is a powerful method to steer a dynamical system to an extremum of a partially or completely unknown map. It often requires advanced system-theoretic tools to understand the qualitative behavior of extremum seeking…
In this letter, we reveal a universal, very simple extremum seeking natural feedback law and mechanism that governs, adapts, and generates in real-time, optimized lift variations for successful energy gain flight in presence of wind shear.…
Dynamic soaring allows seabirds to harvest mechanical energy from vertical wind shear, but field trajectories lack a benchmark for comparing flight performances across species. We derive a reduced lower bound on transport effort from a…
This research endeavors to design the perching maneuver and control in ornithopter robots. By analyzing the dynamic interplay between the robot's flight dynamics, feedback loops, and the environmental constraints, we aim to advance our…
In a low Reynolds number fluid environment that microswimmers encounter, back-and-forth motion cannot lead to net displacement. In mammalian sperm, the mechanical wave propagating along their single flagellum breaks the cancellation between…
Teams of cooperating sperm have been found across several vertebrate and invertebrate species, ranging from sperm pairs to massive aggregates containing hundreds of cells. Although the biochemical mechanisms involved in the aggregation…
Various microorganisms and some mammalian cells are able to swim in viscous fluids by performing nonreciprocal body deformations, such as rotating attached flagella or by distorting their entire body. In order to perform chemotaxis, i.e. to…
This paper presents the design of an extremum seeking controller based on sliding modes and cyclic search for real-time optimization of non-linear multivariable dynamic systems. These systems have arbitrary relative degree, compensated by…
In this paper, a novel Snail Homing and Mating Search (SHMS) algorithm is proposed. It is inspired from the biological behaviour of the snails. Snails continuously travels to find food and a mate, leaving behind a trail of mucus that serves…
Marine exploration is essential to understanding ocean processes and organisms. While the use of current unmanned underwater vehicles has enabled many discoveries, there are still plenty of limitations toward exploring complex environments.…
To perform tasks well in a new domain, one must first know something about it. This paper reports on a robot controller for navigation through unfamiliar indoor worlds. Based on spatial affordances, it integrates planning with reactive…
Motor proteins display widely different stepping patterns as they move on microtubule tracks, from the deterministic linear or helical motion performed by the protein kinesin to the uncoordinated random steps made by dynein. How these…
Foraging is a central decision-making behavior performed by all animals, essential to garnishing enough energy for an organism to survive. Similarly, mating is crucial for evolutionary continuity and offspring production. Mate choice is one…