Related papers: Optimized Fish Locomotion using Design-by-Morphing…

Faced with strong demand for robots working in underwater pipeline environments, a novel underwater multi-model locomotion robot is designed and studied in this research. By mimicking the earthworm's metameric body, the robot is segmented…

Effective airfoil geometry optimization requires exploring a diverse range of designs using as few design variables as possible. This study introduces AirDbM, a Design-by-Morphing (DbM) approach specialized for airfoil optimization that…

In this article, we consider a swimmer (i.e. a self-deformable body) immersed in a fluid, the flow of which is governed by the stationary Stokes equations. This model is relevant for studying the locomotion of microorganisms or micro robots…

Computational models of aquatic locomotion range from individual modest simple swimmers in 2D to sophisticated 3D individual swimmers to complex multi-swimmer models that attempt to parse collective behavioral dynamics. Each of these models…

The challenge of finding a global optimum in a solution search space with limited resources and higher accuracy has given rise to several optimization algorithms. Generally, the gradient-based optimizers converge to the global solution very…

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…

We introduce a novel framework for optimization based on energy-conserving Hamiltonian dynamics in a strongly mixing (chaotic) regime and establish its key properties analytically and numerically. The prototype is a discretization of…

We present OpenFish: an open source soft robotic fish which is optimized for speed and efficiency. The soft robotic fish uses a combination of an active and passive tail segment to accurately mimic the thunniform swimming mode. Through the…

Uncertainties in contact dynamics and object geometry remain significant barriers to robust robotic manipulation. Caging mitigates these uncertainties by constraining an object's mobility without requiring precise contact modeling. However,…

Contrasting the well explored problem on how to steer a macroscopic agent like an airplane or a moon lander to optimally reach a target, "optimal microswimming", i.e. the quest for the optimal navigation strategy for microswimmers, remains…

This study presents a computational optimisation framework of a hip implant through the development of a functionally graded biomimetic lattice structure, whose design was structurally optimised to limit stress shielding. The optimisation…

Flexible manufacturing processes demand robots to easily adapt to changes in the environment and interact with humans. In such dynamic scenarios, robotic tasks may be programmed through learning-from-demonstration approaches, where a…

We introduce a novel co-design method for autonomous moving agents' shape attributes and locomotion by combining deep reinforcement learning and evolution with user control. Our main inspiration comes from evolution, which has led to wide…

In this article, we propose a new metaheuristic inspired by the morphogenetic cellular movements of endothelial cells (ECs) that occur during the tumor angiogenesis process. This algorithm starts with a random initial population. In each…

A fundamental challenge in the design of photonic devices, and electromagnetic structures more generally, is the optimization of their overall architecture to achieve a desired response. To this end, topology or shape optimizers based on…

Efficient swimming at low Reynolds numbers is a major concern of microbots. To compare the efficiencies of different swimmers we introduce the notion of ``swimming drag coefficient'' which allows for the ranking of swimmers. We find the…

Topology optimization is a powerful tool utilized in various fields for structural design. However, its application has primarily been restricted to static or passively moving objects, mainly focusing on hard materials with limited…

Marine mammal biomechanics research has focused on straight-line swimming at consistent speeds, resulting in a lack of knowledge about how animals select movement strategies to balance cost vs performance during tasks like cornering. In…

In traditional topology optimization, the computing time required to iteratively update the material distribution within a design domain strongly depends on the complexity or size of the problem, limiting its application in real engineering…

It is shown that the system efficiency of a self-propelled flexible body is ill-defined unless one considers the concept of quasi-propulsive efficiency, defined as the ratio of the power needed to tow a body in rigid-straight condition over…