Related papers: Learning to swim efficiently in a nonuniform flow …
Deep reinforcement learning has great potential to acquire complex, adaptive behaviors for autonomous agents automatically. However, the underlying neural network polices have not been widely deployed in real-world applications, especially…
We study the dynamics of gyrotactic microswimmers suspended in homogeneous and isotropic turbulence by using direct numerical simulations (DNS). The swimmers are characterized by three non-dimensional parameters: their aspect ratio…
This work presents a decentralized motion planning framework for addressing the task of multi-robot navigation using deep reinforcement learning. A custom simulator was developed in order to experimentally investigate the navigation problem…
Physics-based simulation for fluid flow in porous media is a computational technology to predict the temporal-spatial evolution of state variables (e.g. pressure) in porous media, and usually requires high computational expense due to its…
The acoustofluidic method holds great promise for manipulating microorganisms. When exposed to the steady vortex structures of acoustic streaming flow, these microorganisms exhibit intriguing dynamic behaviors, such as hydrodynamic trapping…
Locomotion and transport of microorganisms in fluids is an essential aspect of life. Search for food, orientation toward light, spreading of off-spring, and the formation of colonies are only possible due to locomotion. Swimming at the…
Drawing inspiration from the lateral lines of fish, the inference of flow characteristics via surface-based data has drawn considerable attention. The current approaches often rely on analytical methods tailored exclusively for potential…
This thesis presents a solution that enables aerial robots to reason about surrounding wind flow fields in real time using on board sensors and embedded flight hardware. The core novelty of this research is the fusion of range measurements…
Researchers have long debated which spatial arrangements and swimming synchronizations are beneficial for the hydrodynamic performance of fish in schools. In our previous work (Seo and Mittal, Bioinsp. Biomim., Vol. 17, 066020, 2022), we…
Wearable devices have the potential to enhance sports performance, yet they are not fulfilling this promise. Our previous studies with 6 professional tennis coaches and 20 players indicate that this could be due the lack of psychological or…
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…
In this paper we consider the problem of robot navigation in simple maze-like environments where the robot has to rely on its onboard sensors to perform the navigation task. In particular, we are interested in solutions to this problem that…
Many high-performance human activities are executed with little or no external feedback: think of a figure skater landing a triple jump, a pitcher throwing a curveball for a strike, or a barista pouring latte art. To study the process of…
Children learn to build a visual representation of the world from unsupervised exploration and we hypothesize that a key part of this learning ability is the use of self-generated navigational information as a similarity label to drive a…
Modeling ocean surface waves under complex ocean current conditions is of crucial importance to many naval applications. For example, traveling ships and underwater vehicles generate spatially heterogeneous currents behind them through…
We study two microswimmers consisting of a spherical rigid head and a passive elastic tail. In the first one the tail is clamped to the head, and the system oscillates under the action of an external torque. In the second one, head and tail…
The swimming of a deformable planar slab in a viscous incompressible fluid is studied on the basis of the Navier-Stokes equations. A continuum of plane wave displacements, symmetric on both sides of the slab and characterized by a…
Finding an optimum strategy to reach a certain destination by swimming in a background flow is an interesting question which leads to non-trivial results and swimming paths. Here we consider different strategies for various types of surface…
Microswimmers are exposed in nature to crowded environments and their transport properties depend in a subtle way on the interaction with obstacles. Here, we investigate a model for a single ideal circle swimmer exploring a two-dimensional…
Perimeter control maintains high traffic efficiency within protected regions by controlling transfer flows among regions to ensure that their traffic densities are below critical values. Existing approaches can be categorized as either…