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2018
Mamakoukas, G., M. A. MacIver, and T. D. Murphey, "Feedback Synthesis For Underactuated Systems Using Sequential Second-Order Needle Variations", The International Journal of Robotics Research, 2018.  (2.78 MB)
Mamakoukas, G., M. A. MacIver, and T. D. Murphey, "Superlinear Convergence Using Controls Based on Second-Order Needle Variations", Conference on Decision and Control, 2018.  (2.52 MB)
Mugan, U., and M. A. MacIver, "How sensory ecology affects the utility of planning", 2018 Conference on Cognitive Computational Neuroscience, 2018.  (2.04 MB)
2017
Bhattacharyya, K. D., D. L. McLean, and M. A. MacIver, "Visual threat assessment and reticulospinal encoding of calibrated responses in larval zebrafish", Current Biology, 09/2017.  (4.07 MB)
Krakauer, J. W., A. A. Ghazanfar, A. Gomez-Marin, M. A. MacIver, and D. Poeppel, "Neuroscience needs behavior: correcting a reductionist bias", Neuron, vol. 93, pp. 480--490, 02/2017.  (897.57 KB)
MacIver, M. A., L. Schmitz, U. Mugan, T. D. Murphey, and C. Mobley, "Massive increase in visual range preceded the origin of terrestrial vertebrates", Proceeding of the National Academy of Sciences, vol. 114, pp. E2375-E2384, 03/2017.  (368 bytes)
Mamakoukas, G., M. A. MacIver, and T. D. Murphey, "Feedback Synthesis for Controllable Underactuated Systems using Sequential Second Order Actions", Robotics: Science and Systems, 2017.  (2.1 MB) (7.24 MB)
Sprinkle, B., R. Bale, A. Pal Singh Bhalla, M. A. MacIver, and N. A. Patankar, "Hydrodynamic optimality of balistiform and gymnotiform locomotion", European Journal of Computational Mechanics, vol. 2642, issue 1-2, pp. 31 - 43, Apr-03-2017.  (536.39 KB)
2016
Bai, Y., I. D. Neveln, M. Peshkin, and M. A. MacIver, "Enhanced detection performance in electrosense through capacitive sensing", Bioinspiration & Biomimetics, vol. 11, pp. 055001, 2016.  (1.96 MB)
Fang, S., M. A. Peshkin, and M. A. MacIver, "Human-in-the-loop active electrosense", Bioinspiration & Biomimetics, vol. 12, issue 1, pp. 014001, 12/2016.  (1.28 MB)
Mamakoukas, G., M. A. MacIver, and T. D. Murphey, "Sequential Action Control for Models of Underactuated Underwater Vehicles in a Planar Ideal Fluid", American Control Conference (ACC), Boston, MA, pp. 4500-4506, 07/2016.  (713.34 KB)
Miller, L. M., Y. Silverman, M. A. MacIver, and T. D. Murphey, "Ergodic Exploration of Distributed Information", Transactions on Robotics, vol. 32, issue 1, pp. 36-52, 2016.  (1.01 MB) (25.09 MB)
2015
Bai, Y., J. B. Snyder, M. A. Peshkin, and M. A. MacIver, "Finding and identifying simple objects underwater with active electrosense", The International Journal of Robotics Research, 2015.  (3.68 MB)
Bale, R., I. D. Neveln, A. Pal Singh Bhalla, M. A. MacIver, and N. A. Patankar, "Convergent evolution of mechanically optimal locomotion in aquatic invertebrates and vertebrates", PLOS Biology, vol. 13, issue 4, 04/2015.  (4.35 MB)
2014
Bale, R., A. A. Shirgaonkar, I. D. Neveln, A. Pal Singh Bhalla, M. A. MacIver, and N. A. Patankar, "Separability of drag and thrust in undulatory animals and machines", Sci. Rep., vol. 4, 12, 2014.  (1.65 MB) (307.23 KB)
Neveln, I. D., L. M. Miller, M. A. MacIver, and T. D. Murphey, "Improving Object Tracking through Distributed Exploration of an Information Map", IEEE Int. Conf. on Intelligent Robots and Systems (IROS), 2014, 2014.  (1.69 MB)
Neveln, I. D., R. Bale, A. Pal Singh Bhalla, O. M. Curet, N. A. Patankar, and M. A. MacIver, "Undulating fins produce off-axis thrust and flow structures", Journal of Experimental Biology, vol. 217, pp. 201–213, 2014.  (3.85 MB)
2013
MacIver, M. A., "Engineering Health and Sustainability through Consciousness-Enhancing Technologies [Invited Opinion]", McCormick Magazine Spring 2013, Northwestern University, pp. 18-19, 2013.  (1.52 MB)
Neveln, I. D., Y. Bai, J. B. Snyder, J. R. Solberg, O. M. Curet, K. M. Lynch, and M. A. MacIver, "Biomimetic and bio-inspired robotics in electric fish research", Journal of Experimental Biology, issue 216, pp. 2501-2514, 06/2013.  (3.5 MB)
Patterson, B.W., A. O. Abraham, M. A. MacIver, and D. L. McLean, "Visually guided gradation of prey capture movements in larval zebrafish", The Journal of Experimental Biology, vol. 16, issue 216, pp. 3071-3083, 04/2013.  (1.66 MB)
Ruiz-Torres, R., O. M. Curet, G. V. Lauder, and M. A. MacIver, "Kinematics of the ribbon fin in hovering and swimming of the electric ghost knifefish", The Journal of Experimental Biology, vol. 216, pp. 823-834, 2013.  (2.64 MB) (933.18 KB)
Sefati, S., I. D. Neveln, E. Roth, T. Mitchell, J. B. Snyder, M. A. MacIver, E. S. Fortune, and N. J. Cowan, "Mutually opposing forces during locomotion can eliminate the tradeoff between maneuverability and stability", Proceedings of the National Academy of Sciences, 2013.  (1.24 MB)
Silverman, Y., L. M. Miller, M. A. MacIver, and T. D. Murphey, "Optimal Planning for Information Acquisition", IROS 2013, 2013.  (1.77 MB)
2012
Bai, Y., J. B. Snyder, Y. Silverman, M. A. Peshkin, and M. A. MacIver, "Sensing Capacitance of Underwater Objects in Bio-inspired Electrosense", IROS 2012, 10/2012.  (2.41 MB)
Bale, R., A. Pal Singh Bhalla, M. A. MacIver, and N. A. Patankar, "Optimal number of waves for ribbon fin propulsion", Bulletin of the American Physical Society, vol. 57: APS, 2012.
Sefati, S., I. D. Neveln, M. A. MacIver, E. S. Fortune, and N. J. Cowan, "Counter-propagating waves enhance maneuverability and stability: a bio-inspired strategy for robotic ribbon-fin propulsion", Biomedical Robotics and Biomechatronics (BioRob), 2012 4th IEEE RAS & EMBS International Conference on: IEEE, pp. 1620–1625, 2012.  (837.72 KB)
Silverman, Y., Y. Bai, J. B. Snyder, and M. A. MacIver, "Location and Orientation Estimation with an Electrosensing Robot", IEEE Int. Conf. on Intelligent Robots and Systems (IROS), 2012, 10/2012.  (1.11 MB)
Snyder, J. B., Y. Silverman, Y. Bai, and M. A. MacIver, "Underwater object tracking using electrical impedance tomography", 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2012), Vilamoura-Algarve, Portugal, IEEE, 2012.  (1.76 MB)
2011
Bale, R., M. A. MacIver, and N. A. Patankar, "Hydrodynamic optimality of ribbon fin shapes", Bulletin of the American Physical Society, vol. 56: APS, 2011.
Curet, O. M., N. A. Patankar, G. V. Lauder, and M. A. MacIver, "Aquatic manoeuvering with counter-propagating waves: a novel locomotive strategy", Journal of The Royal Society Interface, vol. 8, no. 60: The Royal Society, pp. 1041–1050, 2011.  (2.36 MB)
Curet, O. M., N. A. Patankar, G. V. Lauder, and M. A. MacIver, "Mechanical properties of a bio-inspired robotic knifefish with an undulatory propulsor", Bioinspiration & Biomimetics, vol. 6, no. 2: IOP Publishing, pp. 026004, 2011.  (584.62 KB)
MacIver, M. A., "Fitting Science and Screen [Book Review]", Science, vol. 332, no. 6030: American Association for the Advancement of Science, pp. 665–665, 2011.  (166.19 KB)
2010
Curet, O. M., I. K. AlAli, M. A. MacIver, and N. A. Patankar, "A versatile implicit iterative approach for fully resolved simulation of self-propulsion", Computer Methods in Applied Mechanics and Engineering, vol. 199, no. 37: Elsevier, pp. 2417–2424, 2010.  (1.1 MB)
MacIver, M. A., N. A. Patankar, and A. A. Shirgaonkar, "Energy-Information Trade-Offs between Movement and Sensing", PLoS Computational Biology, vol. 6, issue 5, pp. e1000769, 5/2010.  (1.12 MB)
2009
Curet, O. M., M. A. MacIver, and N. A. Patankar, "Multi-directional thrusting using oppositely traveling waves in knifefish swimming", Bulletin of the American Physical Society, vol. 54: APS, 2009.
MacIver, M. A., "Neuroethology: from morphological computation to planning", The Cambridge handbook of situated cognition, New York, NY, Cambridge University Press, pp. 480–504, 2009.  (8.41 MB)
Patankar, N. A., A. A. Shirgaonkar, and M. A. MacIver, "Can drag and thrust be separated in undulatory swimming?", Bulletin of the American Physical Society, vol. 54: APS, 2009.
Postlethwaite, C. M., T. M. Psemeneki, J. Selimkhanov, M. Silber, and M. A. MacIver, "Optimal movement in the prey strikes of weakly electric fish: a case study of the interplay of body plan and movement capability", Journal of The Royal Society Interface, vol. 6, no. 34: The Royal Society, pp. 417–433, 2009.  (2.24 MB)
Shirgaonkar, A. A., M. A. MacIver, and N. A. Patankar, "A new mathematical formulation and fast algorithm for fully resolved simulation of self-propulsion", Journal of Computational Physics, vol. 228, no. 7: Elsevier, pp. 2366–2390, 2009.  (1.26 MB)
Shirgaonkar, A. A., N. A. Patankar, and M. A. MacIver, "On the``momentum enhancement''and hydrodynamic efficiency of gymnotiform and balistiform swimmers", Bulletin of the American Physical Society, vol. 54: APS, 2009.
2008
Curet, O. M., I. K. AlAli, N. A. Patankar, and M. A. MacIver, "Fully resolved simulation of self-propulsion of aquatic organisms", Bulletin of the American Physical Society, vol. 53: APS, 2008.
MacIver, M. A., A. A. Shirgaonkar, and N. A. Patankar, "Conflicts between sensory performance and locomotion in weakly electric fish", Bulletin of the American Physical Society, vol. 53: APS, 2008.
Shirgaonkar, A. A., O. M. Curet, N. A. Patankar, and M. A. MacIver, "Hydrodynamic aspects of thrust generation in gymnotiform swimming", Bulletin of the American Physical Society, vol. 53: APS, 2008.
Shirgaonkar, A. A., O. M. Curet, N. A. Patankar, and M. A. MacIver, "The hydrodynamics of ribbon-fin propulsion during impulsive motion", Journal of Experimental Biology, vol. 211, no. 21: The Company of Biologists Ltd, pp. 3490–3503, 2008.  (2.4 MB)
Shirgaonkar, A. A., O. M. Curet, N. A. Patankar, and M. A. MacIver, "The time evolution of vortical structures in the swimming of weakly electric fish", Journal of Experimental Biology, 2008.
Solberg, J. R., K. M. Lynch, and M. A. MacIver, "Active electrolocation for underwater target localization", The International Journal of Robotics Research, vol. 27, no. 5: SAGE Publications, pp. 529–548, 2008.  (5.1 MB)
2007
Curet, O. M., N. A. Patankar, and M. A. MacIver, "An algorithm for low to moderate Reynolds number swimming", Bulletin of the American Physical Society, vol. 52: APS, 2007.
Curet, O. M., A. A. Shirgaonkar, N. A. Patankar, and M. A. MacIver, "Simulation of bio-locomotion by a momentum redistribution technique for self-propulsion", Bulletin of the American Physical Society, vol. 52: APS, 2007.
MacIver, M. A., N. A. Patankar, O. M. Curet, and A. A. Shirgaonkar, "Infomechanical specializations for prey capture in knifefish", Bulletin of the American Physical Society, vol. 52: APS, 2007.
Shirgaonkar, A. A., N. A. Patankar, and M. A. MacIver, "An efficient algorithm for fully resolved simulation of freely swimming bodies", Bulletin of the American Physical Society, vol. 52: APS, 2007.
Snyder, J. B., M. E. Nelson, J. W. Burdick, and M. A. MacIver, "Omnidirectional sensory and motor volumes in electric fish", PLoS biology, vol. 5, no. 11: Public Library of Science, pp. e301, 2007.  (4.03 MB)
Solberg, J. R., K. M. Lynch, and M. A. MacIver, "Robotic electrolocation: Active underwater target localization with electric fields", Robotics and Automation, 2007 IEEE International Conference on: IEEE, pp. 4879–4886, 2007.  (1.92 MB)
2006
Curet, O. M., N. A. Patankar, and M. A. MacIver, "Towards direct numerical simulation of freely swimming fish.", Bulletin of the American Physical Society: APS, 2006.
Epstein, M., J. E. Colgate, and M. A. MacIver, "Generating thrust with a biologically-inspired robotic ribbon fin", Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on: IEEE, pp. 2412–2417, 2006.  (5.66 MB)
Nelson, M. E., and M. A. MacIver, "Sensory acquisition in active sensing systems", Journal of Comparative Physiology A: Neuroethology, Sensory, Neural, and Behavioral Physiology, vol. 192, no. 6: Springer, pp. 573–586, 2006.  (431.48 KB)
Patankar, N. A., O. M. Curet, and M. A. MacIver, "Hydrodynamics of ribbon fin-based swimming with application to highly maneuverable underwater vehicles.", Bulletin of the American Physical Society: APS, 2006.
2005
Epstein, M., J. E. Colgate, and M. A. MacIver, "A biologically inspired robotic ribbon fin", Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems: Workshop on Morphology, Control, and Passive Dynamics, 2005.  (7.42 MB)
2004
MacIver, M. A., E. Fontaine, and J. W. Burdick, "Designing future underwater vehicles: principles and mechanisms of the weakly electric fish", Oceanic Engineering, IEEE Journal of, vol. 29, no. 3: IEEE, pp. 651–659, 2004.  (525.96 KB)
2002
Nelson, M. E., M. A. MacIver, and S. Coombs, "Modeling electrosensory and mechanosensory images during the predatory behavior of weakly electric fish", Brain, behavior and evolution, vol. 59, no. 4: Karger Publishers, pp. 199–210, 2002.  (214.36 KB)
2001
MacIver, M. A., The computational neuroethology of weakly electric fish: body modeling, mo tion analysis, and sensory estimation, : University of Illinois at Urbana-Champaign, May, 2001.  (1.5 MB)
MacIver, M. A., "How building physical models can reduce and guide the abstraction of nature", Behavioral and Brain Sciences, vol. 24, no. 06: Cambridge Univ Press, pp. 1066–1067, 2001.  (50.79 KB)
MacIver, M. A., N. M. Sharabash, and M. E. Nelson, "Prey-capture behavior in gymnotid electric fish: motion analysis and effects of water conductivity", Journal of Experimental Biology, vol. 204, no. 3: The Company of Biologists Ltd, pp. 543–557, 2001.  (146.83 KB)
MacIver, M. A., and M. E. Nelson, "Towards a biorobotic electrosensory system", Autonomous robots, vol. 11, no. 3: Springer, pp. 263–266, 2001.  (140.13 KB)
2000
MacIver, M. A., and M. E. Nelson, "Body modeling and model-based tracking for neuroethology", Journal of neuroscience methods, vol. 95, no. 2: Elsevier, pp. 133–143, 2000.  (681.6 KB)
1999
Nelson, M. E., and M. A. MacIver, "Prey capture in the weakly electric fish Apteronotus albifrons: sensory acquisition strategies and electrosensory consequences", Journal of Experimental Biology, vol. 202, no. 10: The Company of Biologists Ltd, pp. 1195–1203, 1999.  (165.41 KB)
1997
MacIver, M. A., J. L. Lin, and M. E. Nelson, "Estimation of signal characteristics during electrolocation from video analysis of prey capture behavior in weakly electric fish", Proceedings of the annual conference on Computational neuroscience: trends in research, 1997: trends in research, 1997: Plenum Press, pp. 729–734, 1997.  (1.59 MB)
MacIver, M. A., J. L. Lin, and M. E. Nelson, "Estimation of signal characteristics during electrolocation from video analysis of prey capture behavior in weakly electric fish", Computational Neuroscience: Trends in Research, 1997: Plenum, pp. 729-734, 1997.  (1.59 MB)