7 papers
Elastica++: A high-performance, multiphysics framework for large interacting assemblies of Cosserat rods
Tejaswin Parthasarathy, Seung Hyun Kim, Songyuan Cui +1
Soft, slender structures are ubiquitous in natural and engineered systems, with broad application potential from biomimetic materials to soft robotics. However, there is a notable…
Learning, locomotion, and navigation of soft synthetic snakes in three-dimensional, heterogeneous environments
Xiaotian Zhang, Ali Albazroun, Tixian Wang +3
Limbless terrestrial animals exhibit exceptional locomotor versatility and control, currently unmatched by engineered counterparts. Here, we introduce a computational framework tha…
Computing with Living Neurons: Chaos-Controlled Reservoir Computing with Knowledge Transplant
Seung Hyun Kim, Zhi Dou, Gaurav Upadhyay +6
We introduce chaos-controlled Reservoir Computing (cc-RC) for living neural cultures: dynamically rich substrates of unique potential for adaptive computation. To account for intri…
Joint Surrogate Learning of Objectives, Constraints, and Sensitivities for Efficient Multi-objective Optimization of Neural Dynamical Systems
Frithjof Gressmann, Ivan Georgiev Raikov, Seung Hyun Kim +3
Biophysical neural system simulations are among the most computationally demanding scientific applications, and their optimization requires navigating high-dimensional parameter sp…
S2Act: Simple Spiking Actor
Ugur Akcal, Seung Hyun Kim, Mikihisa Yuasa +6
Spiking neural networks (SNNs) and biologically-inspired learning mechanisms are attractive in mobile robotics, where the size and performance of onboard neural network policies ar…
Digital twins for the design, interactive control, and deployment of modular, fiber-reinforced soft continuum arms
Seung Hyun Kim, Jiamiao Guo, Arman Tekinalp +9
Soft continuum arms (SCAs) promise versatile manipulation through mechanical compliance, for assistive devices, agriculture, search applications, or surgery. However, the strong no…