Stability of quadruped robots’ trajectories subjected to discrete perturbations

In this paper, we study the stability of a mathematical model for trajectory generation of a qua-druped robot. We consider that each movement is composed of two types of primitives: rhythmic and discrete. The discrete primitive is inserted as a perturbation of the purely rhythmic movement. The two primitives are modeled by nonlinear dynamical systems. We adapt the theory developed by Golubitsky et?al. in (Physica D 115: 56?C72, 1998; Buono and Golubitsky in J. Math. Biol. 42:291?C326, 2001) for quadrupeds gaits. We conclude that if the discrete part is inserted in all limbs, with equal values, and as an offset of the rhythmic part, the obtained gait is stable and has the same spatial and spatiotemporal symmetry groups as the purely rhythmic gait, differing only on the value of the offset.     

Injectivity and self-contact in nonlinear elasticity

Let be a bounded open connected subset of ³ with a sufficiently smooth boundary. The additional condition det dx vol () is imposed on the admissible deformations : ¯ of a hyperelastic body whose reference configuration is ¯. We show that the associated minimization problem provides a mathematical model for matter to come into frictionless contact with itself but not interpenetrate. We also extend J. Ball's theorems on existence to this case by establishing the existence of a minimizer of the energy in the space W ^1,p (;³), p > 3, that is injective almost everywhere.     

Modeling and analysis of nonholonomic dynamic systems with a class of rheonomous affine constraints

This paper is devoted to modeling and theoretical analysis of dynamic control systems subject to a class of rheonomous affine constraints, which are called $A$ -rheonomous affine constraints. We first define $A$ -rheonomous affine constraints and explain their geometric representation. Next, a necessary and sufficient condition for complete nonholonomicity of $A$ -rheonomous affine constraints is shown. Then, we derive nonholonomic dynamic systems with $A$ -rheonomous affine constraints (NDSARAC), which are included in the class of nonlinear control systems. We also analyze linear approximated systems and accessibility for the NDSARAC. Finally, the results are applied to some physical examples in order to check the application potentiality.     

Nonlinear stability of discrete shocks for systems of conservation laws

In this paper we study the asymptotic nonlinear stability of discrete shocks for the Lax-Friedrichs scheme for approximating general m×m systems of nonlinear hyperbolic conservation laws. It is shown that weak single discrete shocks for such a scheme are nonlinearly stable in the L ^p-norm for all p 1, provided that the sums of the initial perturbations equal zero. These results should shed light on the convergence of the numerical solution constructed by the Lax-Friedrichs scheme for the single-shock solution of system of hyperbolic conservation laws. If the Riemann solution corresponding to the given far-field states is a superposition of m single shocks from each characteristic family, we show that the corresponding multiple discrete shocks are nonlinearly stable in L ^p (P 2). These results are proved by using both a weighted estimate and a characteristic energy method based on the internal structures of the discrete shocks and the essential monotonicity of the Lax-Friedrichs scheme.     

Discrete breathers and modulational instability in a discrete $$\varvec{\phi ^{4}}$$ nonlinear lattice with next-nearest-neighbor couplings

The properties of discrete breathers and modulational instability in a discrete \(\phi ^{4}\) nonlinear lattice which includes the next-nearest-neighbor coupling interaction are investigated analytically. By using the method of multiple scales combined with a quasi-discreteness approximation, we get a dark-type and a bright-type discrete breather solutions and analyze the existence conditions for such discrete breathers. It is found that the introduction of the next-nearest-neighbor coupling interactions will influence the existence condition for the bright discrete breather. Considering that the existence of bright discrete breather solutions is intimately linked to the modulational instability of plane waves, we will analytically study the regions of discrete modulational instability of plane carrier waves. It is shown that the shape of the region of modulational instability changes significantly when the strength of the next-nearest-neighbor coupling is sufficiently large. In addition, we calculate the instability growth rates of the \(q=\pi \) plane wave for different values of the strength of the next-nearest-neighbor coupling in order to better understand the appearance of the bright discrete breather.     

Entropy and Global Existence for Hyperbolic Balance Laws

This paper presents a general result on the existence of global smooth solutions to hyperbolic systems of balance laws in several space variables. We propose an entropy dissipation condition and prove the existence of global smooth solutions under initial data close to a constant equilibrium state. In addition, we show that a system of balance laws satisfies a Kawashima condition if and only if its first-order approximation, namely the hyperbolic-parabolic system derived through the Chapman-Enskog expansion, satisfies the corresponding Kawashima condition. The result is then applied to Bouchuts discrete velocity BGK models approximating hyperbolic systems of conservation laws.     

On the Robin-Transmission Boundary Value Problems for the Nonlinear Darcy–Forchheimer–Brinkman and Navier–Stokes Systems

The purpose of this paper is to study a boundary value problem of Robin-transmission type for the nonlinear Darcy–Forchheimer–Brinkman and Navier–Stokes systems in two adjacent bounded Lipschitz domains in \({{\mathbb{R}}^{n} (n\in \{2,3\})}\), with linear transmission conditions on the internal Lipschitz interface and a linear Robin condition on the remaining part of the Lipschitz boundary. We also consider a Robin-transmission problem for the same nonlinear systems subject to nonlinear transmission conditions on the internal Lipschitz interface and a nonlinear Robin condition on the remaining part of the boundary. For each of these problems we exploit layer potential theoretic methods combined with fixed point theorems in order to show existence results in Sobolev spaces, when the given data are suitably small in \({L^2}\)-based Sobolev spaces or in some Besov spaces. For the first mentioned problem, which corresponds to linear Robin and transmission conditions, we also show a uniqueness result. Note that the Brinkman–Forchheimer-extended Darcy equation is a nonlinear equation that describes saturated porous media fluid flows.     

A differential flatness theory approach to observer-based adaptive fuzzy control of MIMO nonlinear dynamical systems

The paper proposes a solution to the problem of observer-based adaptive fuzzy control for MIMO nonlinear dynamical systems (e.g. robotic manipulators). An adaptive fuzzy controller is designed for a class of nonlinear systems, under the constraint that only the system’s output is measured and that the system’s model is unknown. The control algorithm aims at satisfying the $H_\infty $ tracking performance criterion, which means that the influence of the modeling errors and the external disturbances on the tracking error is attenuated to an arbitrary desirable level. After transforming the MIMO system into the canonical form, the resulting control inputs are shown to contain nonlinear elements which depend on the system’s parameters. The nonlinear terms which appear in the control inputs are approximated with the use of neuro-fuzzy networks. Moreover, since only the system’s output is measurable the complete state vector has to be reconstructed with the use of a state observer. It is shown that a suitable learning law can be defined for the aforementioned neuro-fuzzy approximators so as to preserve the closed-loop system stability. With the use of Lyapunov stability analysis, it is proven that the proposed observer-based adaptive fuzzy control scheme results in $H_{\infty }$ tracking performance.     

Lie transformation method for dynamical systems having chaotic behavior

The paper persents recent developments in a singular perturbation method, known as the Lie transformation method for the analysis of nonlinear dynamical systems having chaotic behavior. A general approximate solution for a system of first-order differential equations having algebraic nonlinearities is introduced. Past applications to simple dynamical nonlinear models have shown that this method yields highly accurate solutions of the systems. In the present paper the capability of this method is extended to the analysis of dynamical systems having chaotic behavior: indeed, the presence of small divisors in the general expression of the solution suggests a modification of the method that is necessary in order to analyze nonlinear systems having chaotic behavior (indeed, even non-simple-harmonic behavior). For the case of Hamiltonian systems this is consistent with the KAM (Kolmogorov-Arnold-Moser) theory, which gives the limits of integrability for such systems; in contrast to the KAM theory, the present formulation is not limited to conservative systems. Applications to a classic aeroelastic problem (panel flutter) are also included.     

Stiffness problem in modeling wave flows of heterogeneous media with a three‐temperature scheme of interphase heat and mass transfer

The numerical modeling of wave flows of heterogeneous media with a threetemperature scheme of interphase heat and mass transfer involves the problem of equation stiffness. A discrete model of improved stability was developed to describe these processes. Test calculations of the interaction of a shock wave with a bounded layer of a mixture of a gas and droplets assuming a discrete model over a wide range of initial data showed that the stability conditions do not depend on the rate of interphase interaction (Cstability).     

Adaptive Control of Nonlinear Dynamical Systems Using a Model Reference Approach

In this paper we consider using a model reference adaptive control approach to control nonlinear systems. We consider the controller design and stability analysis associated with these type of adaptive systems. Then we discuss the use of model reference adaptive control algorithms to control systems which exhibit nonlinear dynamical behaviour using the example of a Duffing oscillator being controlled to follow a linear reference model. For this system we show that if the nonlinearity is small then standard linear model reference control can be applied. A second example, which is often found in synchronization applications, is when the nonlinearities in the plant and reference model are identical. Again we show that linear model reference adaptive control is sufficient to control the system. Finally we consider controlling more general nonlinear systems using adaptive feedback linearization to control scalar nonlinear systems. As an example we use the Lorenz and Chua systems with parameter values such that they both have chaotic dynamics. The Lorenz system is used as a reference model and a single coordinate from the Chua system is controlled to follow one of the Lorenz system coordinates.     

Universal Laws in Application to Evolutionary Economics

The purpose of the present paper is to reveal some conformities to natural universal laws allowing to advance the theory of evolutionary economics. The second law of thermodynamics, Le Chatelie–Brown principle as universal laws are applied for nonlinear dynamical economic systems. The ergodic hypothesis is applied for dynamical economic systems as one from principles of economic forecasting. From the point of view of statistical physics, entropy is applied as universal function of a condition for economic systems. The evolution of economic dynamical systems at macro and microeconomic levels from the point of view of thermodynamics, statistical physics, and diffusion processes is investigated. The law of money circulation is formulated as one of the forms of display of energy conservation law in economic space. The concept of parametric economic space is introduced. The concepts of energy and number of degrees of freedom of a dynamical economic system allow substantiated cause and effect connections between the evolution of the system and a number of economic factors (forces), influencing on the system (degree of an openness, freedom of an economic system). The character of the development of technologies and the product life cycle are investigated as a nonlinear economic process. The concept of a wave function describing a technological wave connected with the entropy of a system of economic cells is introduced.     

Discrete structures equivalent to nonlinear Dirichlet and wave equations

The Amann–Conley–Zehnder (ACZ) reduction is a global Lyapunov–Schmidt reduction for PDEs based on spectral decomposition. ACZ has been applied in conjunction to diverse topological methods, to derive existence and multiplicity results for Hamiltonian systems, for elliptic boundary value problems, and for nonlinear wave equations. Recently, the ACZ reduction has been translated numerically for semilinear Dirichlet problems and for modeling molecular dynamics, showing competitive performances with standard techniques. In this paper, we apply ACZ to a class of nonlinear wave equations in , attaining to the definition of a finite lattice of harmonic oscillators weakly nonlinearly coupled exactly equivalent to the continuum model. This result can be thought as a thermodynamic limit arrested at a small but finite scale without residuals. Reduced dimensional models reveal the macroscopic scaled features of the continuum, which could be interpreted as collective variables.      

Mutual information in the evolution of trajectories in discrete aiming movements

This study investigated the mutual information in the trajectories of discrete aiming movements on a computer controlled graphics tablet where movement time ( 300 - 2050 ms) was manipulated in a given distance (100 mm) and movement distance (15-240 mm) in 2 given movement times (300 ms and 800 ms ). For the distance-fixed conditions, there was higher mutual information in the slower movements in the 0 vs. 80-100% trajectory point comparisons, whereas the mutual information was higher for the faster movements when comparing within the 80 and 100% points of the movement trajectory. For the time-fixed conditions, the spatial constraints led to a decreasing pattern of the mutual information throughout the points of the trajectory, with the highest mutual information found in the 80 vs. 100% comparison. Overall, the pattern of mutual information reveals systematic modulation of the trajectories between the attractive fixed point of the target as a function of movement condition. These mutual information patterns are postulated to be the consequence of the different relative contributions of feedforward and feedback control processes in trajectory formation as a function of task constraints.     

Stability and stabilization of a class of fractional-order nonlinear systems for $$\varvec{0<}\,{\varvec{\alpha }} \,\varvec{< 2}$$

This paper investigates the stability and stabilization problem of fractional-order nonlinear systems for \(0<\alpha <2\). Based on the fractional-order Lyapunov stability theorem, S-procedure and Mittag–Leffler function, the stability conditions that ensure local stability and stabilization of a class of fractional-order nonlinear systems under the Caputo derivative with \(0<\alpha <2\) are proposed. Finally, typical instances, including the fractional-order nonlinear Chen system and the fractional-order nonlinear Lorenz system, are implemented to demonstrate the feasibility and validity of the proposed method.     

Displacement of water-oil contact in nonuniform stratum

Charnyi [1] has suggested the use of the scheme of limiting anisotropic strata for finding the water-oil contact surface (WOC) moving in a uniform stratum. The self-similar problems of WOC movement were studied in [2], and the numerical solutions are presented in [3]. The numerical integration of the nonlinear equations of the parabolic type obtained in [1] were presented in [4, 5]. A comparison was made in [4] of the results of the numerical solution of the problem of WOC movement for two cases of limiting anisotropy (k_z== and k_z=0) with the experimental data for an Isotropie stratum, which showed that the case k_z= yields results which are very close to the experimental data for the isotropic stratum.In the present investigation the technique suggested in [1] is extended to the nonuniform stratum whose permeability is a function of the distance from the base of the stratum. Only the k_z= case is considered. Nonlinear equations of the parabolic type are derived which define the plane and axisymmetric movement of the WOC in the nonuniform stratum. A possible technique for the numerical integration of the resulting nonlinear parabolic equations is suggested.     

The Nonlinear Heat Equation on W-Random Graphs

For systems of coupled differential equations on a sequence of W-random graphs, we derive the continuum limit in the form of an evolution integral equation. We prove that solutions of the initial value problems (IVPs) for the discrete model converge to the solution of the IVP for its continuum limit. These results combined with the analysis of nonlocally coupled deterministic networks in Medvedev (The nonlinear heat equation on dense graphs and graph limits. ArXiv e-prints, 2013) justify the continuum (thermodynamic) limit for a large class of coupled dynamical systems on convergent families of graphs.     

完整系统的多刚体系统离散时间传递矩阵法研究

基于多刚体系统离散时间传递矩阵法，采用提高计算精度的方法，研究具有大运动、非线性特征的完整系统在平面、空间中的动力学响应。提出了对部分变量重新赋值的违约修正方法，计算机仿真表明了其有效性。多刚体系统离散时间传递矩阵法不须进行违约修正，体现了该方法建模灵活性较强、程式化程度较高的优点。     

The discrete Babuška-Brezzi condition

Summary In the treatment of saddle point problems with finite elements a discrete Babuka-Brezzi condition is encountered. We demonstrate what this discrete Babuka-Brezzi condition entails and explain the mechanical background of this somewhat abstract inf sup condition.

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Die diskrete Babuka-Brezzi-Bedingung

Übersicht Behandelt man Sattelpunktprobleme mit Finiten Elementen, dann stößt man auf eine diskrete Babuka-Brezzi Bedingung. Wir zeigen, welche Rolle diese diskrete Babuka-Brezzi-Bedingung bei der numerischen Behandlung spielt und verdeutlichen den mechanischen Hintergrund dieser etwas abstrakten inf sup Bedingung.

     

Theoretical Contributions of Complex Systems to Positive Psychology and Health: A Somewhat Complicated Affair

Health has historically eluded consistent definition and baffled people's attempts at self-improvement. This paper argues for the central role of Somewhat complicated nonlinear dynamical systems in modeling both positive psychology and physical health. Whether personal attributes or behaviors are salutogenic or harmful is dependent on context and intensity. In addition, people simultaneously and relatively independently seek sometimes-contradictory outcomes. This establishes the place of intrapsychic conflict in health. The paper proposes that the good life emerges from systems composed of coupled modular components, potentially capable of chaotic behavior. Positive psychology and healthy physiology derive from linked regulative systems that are relatively loosely-coupled, distributed, and that rely on heuristic processes rather than algorithms guaranteeing solution to pursue well-being. The adoption of these Somewhat complicated models does not require theories of health to be intricate, nor to employ mechanisms with fractal structure; complex function can emerge from simple systems. Potentially healthy systems attributes are addressed, including current interest in healthy chaos, and an illustrative model is developed.