相关论文: The Integrable Snake Model
We study S=1/2 quantum spin chains with shift-invariant and inversion-symmetric next-nearest-neighbor interaction, also known as zigzag spin chains. We completely classify the integrability and non-integrability of the above class of spin…
We consider a network model of snake states to study the localization problem of non-interacting fermions in a random magnetic field with zero average. After averaging over the randomness, the network of snake states is mapped onto $M$…
Smooth transportation has drawn the attention of many researchers and practitioners in several fields. In the present paper, we propose a modified model of a totally asymmetric simple exclusion process (TASEP), which includes multiple…
The totally asymmetric simple exclusion process in discrete time is considered on finite rings with fixed number of particles. A translation-invariant version of the backward-ordered sequential update is defined for periodic boundary…
Snakes can move through almost any terrain. Similarly, snake robots hold the promise as a versatile platform to traverse complex environments like earthquake rubble. Unlike snake locomotion on flat surfaces which is inherently stable, when…
We determine analytically the form of optimal snake locomotion when the coefficient of transverse friction is large, the typical regime for biological and robotic snakes. We find that the optimal snake motion is a retrograde traveling wave,…
We present a set of exactly solvable Ising models, with half-odd-integer spin-S on a square-type lattice including a quartic interaction term in the Hamiltonian. The particular properties of the mixed lattice, associated with mixed…
Let us consider a two-sided multi-species stochastic particle model with finitely many particles on $\mathbb{Z}$ defined as follows. Suppose that each particle is labelled by a positive integer $l$ and waits a random time exponentially…
We develop a numerical scheme to determine which planar snake motions are optimal for locomotory efficiency, across a wide range of frictional parameter space. For a large coefficient of transverse friction, we find that retrograde…
Soft robotic snakes (SRSs) have a unique combination of continuous and compliant properties that allow them to imitate the complex movements of biological snakes. Despite the previous attempts to develop SRSs, many have been limited to…
A Mazurkiewicz set is a plane subset that intersect every straight line at exactly two points, and a Sierpi\'{n}ski-Zygmund function is a function from $\mathbb{R}$ into $\mathbb{R}$ that has as little of the standard continuity as…
Snakes can move through almost any terrain. Although their locomotion on flat surfaces using planar gaits is inherently stable, when snakes deform their body out of plane to traverse complex terrain, maintaining stability becomes a…
Snake robots composed of alternating single-axis pitch and yaw joints have many internal degrees of freedom, which make them capable of versatile three-dimensional locomotion. In motion planning process, snake robot motions are often…
Planar/flat configurations of fixed-angle chains and trees are well studied in the context of polymer science, molecular biology, and puzzles. In this paper, we focus on a simple type of fixed-angle linkage: every edge has unit length…
We present a study of time-independent solutions of the two-dimensional discrete Allen-Cahn equation with cubic and quintic nonlinearity. Three different types of lattices are considered, i.e., square, honeycomb, and triangular lattices.…
Inspired by the dynamic coupling of moto-neurons and physical elasticity in animals, this work explores the possibility of generating locomotion gaits by utilizing physical oscillations in a soft snake by means of a low-level spiking neural…
Models can be simple for different reasons: because they yield a simple and computationally efficient interpretation of a generic dataset (e.g. in terms of pairwise dependences) - as in statistical learning - or because they capture the…
In this paper, we propose a novel strategy for a snake robot to move straight up a cylindrical surface. Prior works on pole-climbing for a snake robot mainly utilized a rolling helix gait, and although proven to be efficient, it does not…
Object manipulation has been extensively studied in the context of fixed base and mobile manipulators. However, the overactuated locomotion modality employed by snake robots allows for a unique blend of object manipulation through…
We address the discrete inverse conductance problem for well-connected spider networks; that is, to recover the conductance function on a well-connected spider network from the Dirichlet-to-Neumann map. It is well-known that this inverse…