A "Sidewinding" Locomotion Gait for Hyper-Redundant Robots

This paper considers the kinematics of a novel form of hyper-redundant mobile robot locomotion which is analogous to the 'sidewinding' locomotion of desert snakes. This form of locomotion can be generated by a repetitive travel wave of mechanism bending. Using a continuous backbone curve model, we develop algorithms which enable travel in a uniform direction as well as changes in direction

Anisotropic collisions of dipolar Bose-Einstein condensates in the universal regime

We report the measurement of collisions between two Bose-Einstein condensates with strong dipolar interactions. The collision velocity is significantly larger than the internal velocity distribution widths of the individual condensates, and thus, with the condensates being sufficiently dilute, a halo corresponding to the two-body differential scattering cross section is observed. The results demonstrate a novel regime of quantum scattering, relevant to dipolar interactions, in which a large number of angular momentum states become coupled during the collision. We perform Monte-Carlo simulations to provide a detailed comparison between theoretical two-body cross sections and the experimental observations.Comment: 10 pages, 5 figure

A Miniature Robot for Isolating and Tracking Neurons in Extracellular Cortical Recordings

This paper presents a miniature robot device and control algorithm that can autonomously position electrodes in cortical tissue for isolation and tracking of extracellular signals of individual neurons. Autonomous electrode positioning can significantly enhance the efficiency and quality of acute electrophysiolgical experiments aimed at basic understanding of the nervous system. Future miniaturized systems of this sort could also overcome some of the inherent difficulties in estabilishing long-lasting neural interfaces that are needed for practical realization of neural prostheses. The paper describes the robot's design and summarizes the overall structure of the control system that governs the electrode positioning process. We present a new sequential clustering algorithm that is key to improving our system's performance, and which may have other applications in robotics. Experimental results in macaque cortex demonstrate the validity of our approach

The Fractal Hand-II: Reviving a Classic Mechanism for Contemporary Grasping Challenges

This paper, and its companion, propose a new fractal robotic gripper, drawing inspiration from the century-old Fractal Vise. The unusual synergistic properties allow it to passively conform to diverse objects using only one actuator. Designed to be easily integrated with prevailing parallel jaw grippers, it alleviates the complexities tied to perception and grasp planning, especially when dealing with unpredictable object poses and geometries. We build on the foundational principles of the Fractal Vise to a broader class of gripping mechanisms, and also address the limitations that had led to its obscurity. Two Fractal Fingers, coupled by a closing actuator, can form an adaptive and synergistic Fractal Hand. We articulate a design methodology for low cost, easy to fabricate, large workspace, and compliant Fractal Fingers. The companion paper delves into the kinematics and grasping properties of a specific class of Fractal Fingers and Hands.Comment: This paper is prepared for ICRA 202

Anisotropic expansion of a thermal dipolar Bose gas

We report on the anisotropic expansion of ultracold bosonic dysprosium gases at temperatures above quantum degeneracy and develop a quantitative theory to describe this behavior. The theory expresses the post-expansion aspect ratio in terms of temperature and microscopic collisional properties by incorporating Hartree-Fock mean-field interactions, hydrodynamic effects, and Bose-enhancement factors. Our results extend the utility of expansion imaging by providing accurate thermometry for dipolar thermal Bose gases, reducing error in expansion thermometry from tens of percent to only a few percent. Furthermore, we present a simple method to determine scattering lengths in dipolar gases, including near a Feshbach resonance, through observation of thermal gas expansion.Comment: main text and supplement, 11 pages total, 4 figure