Inspired by the motion of biological snakes, this paper presents an overview of recent results in modelling and control of snake robots. The objective of the research underlying this paper is to contribute to the mathematical foundation of the control theory of snake robots. To this end, the paper presents two mathematical models of planar snake robot dynamics, which are employed to investigate...

Problem statement: In snake robot research, one of the most efficient forms of locomotion is the lateral undulation. However, lateral undulation, also known as serpentine locomotion, is illsuited for narrow spaces, as the body of the snake must assume a certain amount of curvature to propel forward. Approach: To overcome the inability to adapt to narrow spaces, a novel type of a gait was introd...

This thesis explores the use of Genetic Algorithms in approaching the Snake-In-The-Box problem in dimension 8. It discusses methods for improving the solutions found by reducing the representation space for the problem. It presents a representation scheme called FrequencyBased Transition Reassignment (FBTR), which creates a unified interpretation of individuals to prune the search space. FBTR i...

E nvenoming resulting from snake bites is an important public health hazard in many regions, particularly in tropical and subtropical countries [1–3]. Although antivenoms are being produced by various laboratories in every continent, the burden of snake bite envenoming— causing both morbidity and mortality—still has a great impact on the population and on health-care systems, especially in Afri...

BACKGROUND AND OBJECTIVES The current study examines effects of exposure in multiple contexts on fear reduction and renewal and the moderating effect of baseline threat-specific and nonspecific emotionality. METHODS Snake-fearful participants received a negative or neutral emotion induction and were randomized to video exposure to a snake in a single context, multiple context, or a no exposur...

Snake bite is a common cause of hospital admission in Sri Lanka. Despite this, there have been no countrywide studies or national estimates of disease burden due to snake bites in Sri Lankan hospitals. We assessed the disease burden due to snake bite in our hospitals and estimated the frequency of admissions due to bites by different snake species. Sri Lanka was divided into four zones based on...

In nature, snakes can gracefully traverse a wide range of different and complex environments. Snake robots that can mimic this behaviour could be fitted with sensors and transport tools to hazardous or confined areas that other robots and humans are unable to access. In order to carry out such tasks, snake robots must have a high degree of awareness of their surroundings (i.e., perception-drive...

Recent polarized proton beam experiments in the IUCF Cooler Ring found an evidence for a second-order snake depolarizing resonance, when the vertical betatron tune was inadvertently set near a quarter-integer. We have also studied the possibility of spin-flipping the beam polarization in the presence of a full Siberian snake using an rf solenoid. By varying the rf solenoid’s ramp time and frequ...

Complete or nearly complete mitochondrial DNA sequences were determined from four lizards (Western fence lizard, Warren's spinytail lizard, Terrestrial arboreal alligator lizard, and Chinese crocodile lizard) and a snake (Texas blind snake). These genomes had a typical gene organization found in those of most mammals and fishes, except for a translocation of the glutamine tRNA gene in the blind...

Roads are significant objects of an infrastructure and the extraction of roads from aerial and satellite images are important for different applications such as automated map generation and change detection. Roads are also important to detect other structures such as buildings and urban areas. In this paper, the road extraction approach is based on Active Contour Models for 1-meter resolution g...