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Precise object boundary detection for automatic image segmentation is critical for image analysis, including that used in computer-aided diagnosis. However, such detection traditionally uses active contour or snake models requiring accurate…

Gaits engineered for snake-like robots to rotate in-place instrumentally fill a gap in the set of locomotive gaits that have traditionally prioritized translation. This paper designs a Turn-in-Place gait and demonstrates the ability of a…

Recent research on mobile robots has focused on increasing their adaptability to unpredictable and unstructured environments using soft materials and structures. However, the determination of key design parameters and control over these…

We investigate the motion of active semiflexible filament with shape kinematics and hydrodynamic interaction including. Three types of filament motion are found: Translation, snaking and rotation. Change of flexibility will induce…

A new approach for trajectory optimization of musculoskeletal dynamic models is introduced. The model combines rigid body and muscle dynamics described with a Hill-type model driven by neural control inputs. The objective is to find input…

Minimising the energy consumption associated with periodic motion is a priority common to a wide range of technologies and organisms - among them, many species of flying insect, for which flapping-wing flight is a life-essential mode of…

Accurate segmentation of topological tubular structures, such as blood vessels and roads, is crucial in various fields, ensuring accuracy and efficiency in downstream tasks. However, many factors complicate the task, including thin local…

In the field of bioimaging, an important part of analyzing the motion of objects is tracking. We propose a method that applies the Sinkhorn distance for solving the optimal transport problem to track objects. The advantage of this method is…

This article presents a computational framework for determining the optimal slip velocity of a microswimmer with arbitrary three-dimensional geometry suspended in a viscous fluid. The objective is to minimize the hydrodynamic power…

Physical modeling method, represented by simulation and visualization of the principles in physics, is introduced in the shape extraction of the active contours. The objectives of adopting this concept are to address the several major…

Snake robots offer exceptional mobility across extreme terrain inaccessible to conventional rovers, yet their highly articulated bodies present fundamental challenges for autonomous navigation in environments lacking external tracking…

The success of deep neural networks hinges on our ability to accurately and efficiently optimize high-dimensional, non-convex functions. In this paper, we empirically investigate the loss functions of state-of-the-art networks, and how…

Animals locomote for various reasons: to search for food, find suitable habitat, pursue prey, escape from predators, or seek a mate. The grand scale of biodiversity contributes to the great locomotory design and mode diversity. Various…

Inverse Kinematics (IK) remains a dynamic field of research, with various methods striving for speed and precision. Despite advancements, many IK techniques face significant challenges, including high computational demands and the risk of…

This paper solves the optimization problem for a simplified one-dimensional worm model when the friction force depends on the direction of the motion. The motion of the worm is controlled by the actuator force $f(t)$ which is assumed to be…

Transport networks are typically optimized, either by evolutionary pressures in biological systems or by human design in engineered structures. In the case of systems such as the animal vasculature, the transport of fluids is hindered by…

Over the past few decades, oscillating flexible foils have been used to study the physics of organismal propulsion in different fluid environments. Here we extend this work to a study of flexible foils in a frictional environment. When the…

This paper presents a novel methodology to model and optimize trajectories of a quadrupedal robot with spinal compliance to improve standing jump performance compared to quadrupeds with a rigid spine. We introduce an elastic model for a…

Non-convex optimization is a critical tool in advancing machine learning, especially for complex models like deep neural networks and support vector machines. Despite challenges such as multiple local minima and saddle points, non-convex…

Developing deterministic surfaces relies on controlling the structure of the rubbing interface so that not only the surface is of optimized topography, but also is able to self-adjust its tribological behaviour according to the evolution of…