Comparative evaluation of approaches in T.4.1-4.3 and working definition of adaptive module

The goal of this deliverable is two-fold: (1) to present and compare different approaches towards learning and encoding movements us- ing dynamical systems that have been developed by the AMARSi partners (in the past during the first 6 months of the project), and (2) to analyze their suitability to be used as adaptive modules, i.e. as building blocks for the complete architecture that will be devel- oped in the project. The document presents a total of eight approaches, in two groups: modules for discrete movements (i.e. with a clear goal where the movement stops) and for rhythmic movements (i.e. which exhibit periodicity). The basic formulation of each approach is presented together with some illustrative simulation results. Key character- istics such as the type of dynamical behavior, learning algorithm, generalization properties, stability analysis are then discussed for each approach. We then make a comparative analysis of the different approaches by comparing these characteristics and discussing their suitability for the AMARSi project

Entrainment and chaos in a pulse-driven Hodgkin-Huxley oscillator

The Hodgkin-Huxley model describes action potential generation in certain types of neurons and is a standard model for conductance-based, excitable cells. Following the early work of Winfree and Best, this paper explores the response of a spontaneously spiking Hodgkin-Huxley neuron model to a periodic pulsatile drive. The response as a function of drive period and amplitude is systematically characterized. A wide range of qualitatively distinct responses are found, including entrainment to the input pulse train and persistent chaos. These observations are consistent with a theory of kicked oscillators developed by Qiudong Wang and Lai-Sang Young. In addition to general features predicted by Wang-Young theory, it is found that most combinations of drive period and amplitude lead to entrainment instead of chaos. This preference for entrainment over chaos is explained by the structure of the Hodgkin-Huxley phase resetting curve.Comment: Minor revisions; modified Fig. 3; added reference

Optimal fluctuations and the control of chaos.

The energy-optimal migration of a chaotic oscillator from one attractor to another coexisting attractor is investigated via an analogy between the Hamiltonian theory of fluctuations and Hamiltonian formulation of the control problem. We demonstrate both on physical grounds and rigorously that the Wentzel-Freidlin Hamiltonian arising in the analysis of fluctuations is equivalent to Pontryagin's Hamiltonian in the control problem with an additive linear unrestricted control. The deterministic optimal control function is identied with the optimal fluctuational force. Numerical and analogue experiments undertaken to verify these ideas demonstrate that, in the limit of small noise intensity, fluctuational escape from the chaotic attractor occurs via a unique (optimal) path corresponding to a unique (optimal) fluctuational force. Initial conditions on the chaotic attractor are identified. The solution of the boundary value control problem for the Pontryagin Hamiltonian is found numerically. It is shown that this solution is approximated very accurately by the optimal fluctuational force found using statistical analysis of the escape trajectories. A second series of numerical experiments on the deterministic system (i.e. in the absence of noise) show that a control function of precisely the same shape and magnitude is indeed able to instigate escape. It is demonstrated that this control function minimizes the cost functional and the corresponding energy is found to be smaller than that obtained with some earlier adaptive control algorithms

Oscillatory and unsteady processes in liquid rocket engines

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