The Experts below are selected from a list of 18492 Experts worldwide ranked by ideXlab platform
Paolo Dario - One of the best experts on this subject based on the ideXlab platform.
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Polychaete-Like Undulatory Robotic Locomotion in Unstructured Substrates
IEEE Transactions on Robotics, 2007Co-Authors: G. La Spina, Dimitris P. Tsakiris, Arianna Menciassi, Michael Sfakiotakis, Paolo DarioAbstract:A biological paradigm of versatile locomotion and effective motion control is provided by the polychaete annelid worms, whose motion adapts to a large variety of unstructured environmental conditions (sand, Mud, Sediment, water, etc.), and could thus be of interest to replicate by robotic analogs. Their locomotion is characterized by the combination of a unique form of tail-to-head body undulations (opposite to snakes and eels), with the rowing-like action of numerous lateral appendages distributed along their long segmented body. Focusing on the former aspect of polychaete locomotion, computational models of crawling and swimming by such tail-to-head body undulations have been developed in this paper. These are based on the Lagrangian dynamics of the system and on resistive models of its interaction with the environment, and are used for simulation studies demonstrating the generation of undulatory gaits. Several biomimetic robotic prototypes have been developed, whose undulatory actuation achieves propulsion on sand and other granular unstructured environments. Extensive experimental studies demonstrate the feasibility of robot propulsion by tail-to-head body undulations in such environments, as well as the agreement of its qualitative and quantitative characteristics to the predictions of the corresponding computational models.
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polychaete like pedundulatory robotic locomotion
International Conference on Robotics and Automation, 2005Co-Authors: Dimitris P. Tsakiris, Arianna Menciassi, Michael Sfakiotakis, G. La Spina, Paolo DarioAbstract:Polychaete annelid worms provide a biological paradigm of versatile locomotion and effective motion control, adaptable to a large variety of unstructured environmental conditions (water, sand, Mud, Sediment, etc.). The undulatory locomotion of their segmented body is characterized by the combination of a unique form of tail-to-head body undulations, with the rowing-like action of numerous lateral appendages distributed along their body. Computational models of polychaete-like crawling and swimming have been developed, based on the Lagrangian dynamics of the system and on resistive models of its interaction with the environment, and used for simulation studies demonstrating the generation of undulatory gaits. Several lightweight robotic prototypes have been developed, whose undulatory actuation achieves propulsion on sand. Extensive experiments demonstrate that the propulsion of these robots is characterized by essential features of polychaete locomotion, in agreement with the corresponding simulations.
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ICRA - Polychaete-like Pedundulatory Robotic Locomotion
Proceedings 2007 IEEE International Conference on Robotics and Automation, 2005Co-Authors: Dimitris P. Tsakiris, Arianna Menciassi, Michael Sfakiotakis, G. La Spina, Paolo DarioAbstract:Polychaete annelid worms provide a biological paradigm of versatile locomotion and effective motion control, adaptable to a large variety of unstructured environmental conditions (water, sand, Mud, Sediment, etc.). The undulatory locomotion of their segmented body is characterized by the combination of a unique form of tail-to-head body undulations, with the rowing-like action of numerous lateral appendages distributed along their body. Computational models of polychaete-like crawling and swimming have been developed, based on the Lagrangian dynamics of the system and on resistive models of its interaction with the environment, and used for simulation studies demonstrating the generation of undulatory gaits. Several lightweight robotic prototypes have been developed, whose undulatory actuation achieves propulsion on sand. Extensive experiments demonstrate that the propulsion of these robots is characterized by essential features of polychaete locomotion, in agreement with the corresponding simulations.
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Undulatory locomotion of polychaete annelids: mechanics, neural control and robotic prototypes †
2004Co-Authors: Dimitris P. Tsakiris, Arianna Menciassi, Michael Sfakiotakis, G. La Spina, Paolo DarioAbstract:The undulatory locomotion of polychaete annelid worms is studied as a biological paradigm of a versatile body morphology and effective motion control, adaptable to a large variety of unstructured and tortuous environmental conditions (water, sand, Mud, Sediment, etc.). Computational models of this type of locomotion have been developed, based on the Lagrangian dynamics of the system, on resistive models of its interaction with the environment and on neural control using central pattern generators. Simulation studies demonstrate the possibility to generate undulatory gaits, which are characterized by essential features of polychaete locomotion, based on these models. A lightweight robotic prototype has been developed, whose undulatory actuation achieves propulsion on sand.
Xiaochen Hao - One of the best experts on this subject based on the ideXlab platform.
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speciation and stable isotopic compositions of humic sulfur in Mud Sediment of the east china sea constraints on origins and pathways of organic sulfur formation
Organic Geochemistry, 2013Co-Authors: Maoxu Zhu, Xiangli Huang, Guipeng Yang, Xiaochen HaoAbstract:Abstract Humic sulfur is commonly the most important pool of organic sulfur (OS) in marine Sediments and also important for the budget of total Sedimentary sulfur. In this study, contents and stable sulfur isotopic compositions of hydrolyzable organic sulfur (HYOS), humic acid sulfur (HA-S) and fulvic acid sulfur (FA-S) in one core collected from the East China Sea (ECS) inner shelf were determined to investigate the sources and pathways of OS formation and to compare diagenetic geochemistry of HA-S and FA-S. HYOS in the core is essentially biological in origin and diagenetically refractory, with a fairly low fraction of labile sulfur bearing biomolecules. HA-S in the core is largely terrigenous residual bio-OS, while FA-S is a mixture of marine bio- and diagenetic OS (diag-OS), with the diag-OS fractions between 44% and 71%. Both HA-S and FA-S contents in the core are at the lower ends of the corresponding values reported in the literature. The HA in the Sediments is diagenetically inert, subject to neither significant diagenetic sulfurization nor bio-OS mineralization loss, while the FA is reactive, prone to both sulfurization and decomposition loss of diagenetically bound OS. Low contents of humic S [i.e., ∑(HA-S + FA-S)] in the core may suggest that OS burial has only minor contribution to the burial of total sulfur in the Sediments due to generally low OM sulfurization.
L. R. Ellis - One of the best experts on this subject based on the ideXlab platform.
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Magnesium-rich minerals in Sediment and suspended particulates of South Florida water bodies : Implications for turbidity
Journal of environmental quality, 2007Co-Authors: W. G. Harris, M. M. Fisher, X. Cao, Todd Z. Osborne, L. R. EllisAbstract:Fine Sediments in shallow water bodies such as Lake Okeechobee are prone to resuspension. Predominantly inorganic "Mud" Sediment that covers approximately 670 km2 of the lake has been recognized as a persistent source of turbidity. The objective of this study was to determine if mineral components of Sediments in Lake Okeechobee and water conveyances of the northern Everglades also occur as suspended Sediment and hence constitute a potential abiotic contributor to turbidity. Sediment samples were collected from nine stations within the lake and eight locations north of Water Conservation Area 2A in the Everglades. Water samples were also collected at selected locations. The silt and clay mineralogy of Sediment and suspended particles was determined using X-ray diffraction, thermogravimetry, scanning-electron microscopy, energy-dispersive X-ray elemental microanalysis, and high-resolution transmission-electron microscopy. Clay fractions of the lake Sediment contained the Mg silicate minerals sepiolite and palygorskite, along with smectite, dolomite, calcite, and kaolinite. Sediment silt fractions were dominated by carbonates and/or quartz, with smaller amounts of Ca phosphates and sepiolite. Mineralogy of the Mud Sediment was similar to that reported for geologic phosphate deposits. This suggests that the Mud Sediment might have accumulated by stream transport of minerals from these deposits. Suspended solids and Mud-Sediment mineralogy were similar, except that smectite was more abundant in suspended solids. Everglade samples also contained Mg-rich minerals. The small size, low density, and fibrous or platy nature of the prevalent Mud Sediment minerals make them an abiotic, hydrodynamically sensitive source of persistent turbidity in a shallow lake. Mitigation efforts focused exclusively on P-induced biogeochemical processes do not address the origin or effects of these minerals. Ecological management issues such as turbidity control, P retention, geologic P input, and suitability of dredging are related to Mud-Sediment properties and provenance.
G. La Spina - One of the best experts on this subject based on the ideXlab platform.
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Polychaete-Like Undulatory Robotic Locomotion in Unstructured Substrates
IEEE Transactions on Robotics, 2007Co-Authors: G. La Spina, Dimitris P. Tsakiris, Arianna Menciassi, Michael Sfakiotakis, Paolo DarioAbstract:A biological paradigm of versatile locomotion and effective motion control is provided by the polychaete annelid worms, whose motion adapts to a large variety of unstructured environmental conditions (sand, Mud, Sediment, water, etc.), and could thus be of interest to replicate by robotic analogs. Their locomotion is characterized by the combination of a unique form of tail-to-head body undulations (opposite to snakes and eels), with the rowing-like action of numerous lateral appendages distributed along their long segmented body. Focusing on the former aspect of polychaete locomotion, computational models of crawling and swimming by such tail-to-head body undulations have been developed in this paper. These are based on the Lagrangian dynamics of the system and on resistive models of its interaction with the environment, and are used for simulation studies demonstrating the generation of undulatory gaits. Several biomimetic robotic prototypes have been developed, whose undulatory actuation achieves propulsion on sand and other granular unstructured environments. Extensive experimental studies demonstrate the feasibility of robot propulsion by tail-to-head body undulations in such environments, as well as the agreement of its qualitative and quantitative characteristics to the predictions of the corresponding computational models.
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polychaete like pedundulatory robotic locomotion
International Conference on Robotics and Automation, 2005Co-Authors: Dimitris P. Tsakiris, Arianna Menciassi, Michael Sfakiotakis, G. La Spina, Paolo DarioAbstract:Polychaete annelid worms provide a biological paradigm of versatile locomotion and effective motion control, adaptable to a large variety of unstructured environmental conditions (water, sand, Mud, Sediment, etc.). The undulatory locomotion of their segmented body is characterized by the combination of a unique form of tail-to-head body undulations, with the rowing-like action of numerous lateral appendages distributed along their body. Computational models of polychaete-like crawling and swimming have been developed, based on the Lagrangian dynamics of the system and on resistive models of its interaction with the environment, and used for simulation studies demonstrating the generation of undulatory gaits. Several lightweight robotic prototypes have been developed, whose undulatory actuation achieves propulsion on sand. Extensive experiments demonstrate that the propulsion of these robots is characterized by essential features of polychaete locomotion, in agreement with the corresponding simulations.
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ICRA - Polychaete-like Pedundulatory Robotic Locomotion
Proceedings 2007 IEEE International Conference on Robotics and Automation, 2005Co-Authors: Dimitris P. Tsakiris, Arianna Menciassi, Michael Sfakiotakis, G. La Spina, Paolo DarioAbstract:Polychaete annelid worms provide a biological paradigm of versatile locomotion and effective motion control, adaptable to a large variety of unstructured environmental conditions (water, sand, Mud, Sediment, etc.). The undulatory locomotion of their segmented body is characterized by the combination of a unique form of tail-to-head body undulations, with the rowing-like action of numerous lateral appendages distributed along their body. Computational models of polychaete-like crawling and swimming have been developed, based on the Lagrangian dynamics of the system and on resistive models of its interaction with the environment, and used for simulation studies demonstrating the generation of undulatory gaits. Several lightweight robotic prototypes have been developed, whose undulatory actuation achieves propulsion on sand. Extensive experiments demonstrate that the propulsion of these robots is characterized by essential features of polychaete locomotion, in agreement with the corresponding simulations.
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Undulatory locomotion of polychaete annelids: mechanics, neural control and robotic prototypes †
2004Co-Authors: Dimitris P. Tsakiris, Arianna Menciassi, Michael Sfakiotakis, G. La Spina, Paolo DarioAbstract:The undulatory locomotion of polychaete annelid worms is studied as a biological paradigm of a versatile body morphology and effective motion control, adaptable to a large variety of unstructured and tortuous environmental conditions (water, sand, Mud, Sediment, etc.). Computational models of this type of locomotion have been developed, based on the Lagrangian dynamics of the system, on resistive models of its interaction with the environment and on neural control using central pattern generators. Simulation studies demonstrate the possibility to generate undulatory gaits, which are characterized by essential features of polychaete locomotion, based on these models. A lightweight robotic prototype has been developed, whose undulatory actuation achieves propulsion on sand.
Dimitris P. Tsakiris - One of the best experts on this subject based on the ideXlab platform.
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Polychaete-Like Undulatory Robotic Locomotion in Unstructured Substrates
IEEE Transactions on Robotics, 2007Co-Authors: G. La Spina, Dimitris P. Tsakiris, Arianna Menciassi, Michael Sfakiotakis, Paolo DarioAbstract:A biological paradigm of versatile locomotion and effective motion control is provided by the polychaete annelid worms, whose motion adapts to a large variety of unstructured environmental conditions (sand, Mud, Sediment, water, etc.), and could thus be of interest to replicate by robotic analogs. Their locomotion is characterized by the combination of a unique form of tail-to-head body undulations (opposite to snakes and eels), with the rowing-like action of numerous lateral appendages distributed along their long segmented body. Focusing on the former aspect of polychaete locomotion, computational models of crawling and swimming by such tail-to-head body undulations have been developed in this paper. These are based on the Lagrangian dynamics of the system and on resistive models of its interaction with the environment, and are used for simulation studies demonstrating the generation of undulatory gaits. Several biomimetic robotic prototypes have been developed, whose undulatory actuation achieves propulsion on sand and other granular unstructured environments. Extensive experimental studies demonstrate the feasibility of robot propulsion by tail-to-head body undulations in such environments, as well as the agreement of its qualitative and quantitative characteristics to the predictions of the corresponding computational models.
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polychaete like pedundulatory robotic locomotion
International Conference on Robotics and Automation, 2005Co-Authors: Dimitris P. Tsakiris, Arianna Menciassi, Michael Sfakiotakis, G. La Spina, Paolo DarioAbstract:Polychaete annelid worms provide a biological paradigm of versatile locomotion and effective motion control, adaptable to a large variety of unstructured environmental conditions (water, sand, Mud, Sediment, etc.). The undulatory locomotion of their segmented body is characterized by the combination of a unique form of tail-to-head body undulations, with the rowing-like action of numerous lateral appendages distributed along their body. Computational models of polychaete-like crawling and swimming have been developed, based on the Lagrangian dynamics of the system and on resistive models of its interaction with the environment, and used for simulation studies demonstrating the generation of undulatory gaits. Several lightweight robotic prototypes have been developed, whose undulatory actuation achieves propulsion on sand. Extensive experiments demonstrate that the propulsion of these robots is characterized by essential features of polychaete locomotion, in agreement with the corresponding simulations.
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ICRA - Polychaete-like Pedundulatory Robotic Locomotion
Proceedings 2007 IEEE International Conference on Robotics and Automation, 2005Co-Authors: Dimitris P. Tsakiris, Arianna Menciassi, Michael Sfakiotakis, G. La Spina, Paolo DarioAbstract:Polychaete annelid worms provide a biological paradigm of versatile locomotion and effective motion control, adaptable to a large variety of unstructured environmental conditions (water, sand, Mud, Sediment, etc.). The undulatory locomotion of their segmented body is characterized by the combination of a unique form of tail-to-head body undulations, with the rowing-like action of numerous lateral appendages distributed along their body. Computational models of polychaete-like crawling and swimming have been developed, based on the Lagrangian dynamics of the system and on resistive models of its interaction with the environment, and used for simulation studies demonstrating the generation of undulatory gaits. Several lightweight robotic prototypes have been developed, whose undulatory actuation achieves propulsion on sand. Extensive experiments demonstrate that the propulsion of these robots is characterized by essential features of polychaete locomotion, in agreement with the corresponding simulations.
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Undulatory locomotion of polychaete annelids: mechanics, neural control and robotic prototypes †
2004Co-Authors: Dimitris P. Tsakiris, Arianna Menciassi, Michael Sfakiotakis, G. La Spina, Paolo DarioAbstract:The undulatory locomotion of polychaete annelid worms is studied as a biological paradigm of a versatile body morphology and effective motion control, adaptable to a large variety of unstructured and tortuous environmental conditions (water, sand, Mud, Sediment, etc.). Computational models of this type of locomotion have been developed, based on the Lagrangian dynamics of the system, on resistive models of its interaction with the environment and on neural control using central pattern generators. Simulation studies demonstrate the possibility to generate undulatory gaits, which are characterized by essential features of polychaete locomotion, based on these models. A lightweight robotic prototype has been developed, whose undulatory actuation achieves propulsion on sand.