46,662 research outputs found
Universality and Sharpness in Absorbing-State Phase Transitions
We consider the Activated Random Walk model in any dimension with any sleep
rate and jump distribution and ergodic initial state. We show that the
stabilization properties depend only on the average density of particles,
regardless of how they are initially located on the lattice
Control Strategies for the Fokker-Planck Equation
Using a projection-based decoupling of the Fokker-Planck equation, control
strategies that allow to speed up the convergence to the stationary
distribution are investigated. By means of an operator theoretic framework for
a bilinear control system, two different feedback control laws are proposed.
Projected Riccati and Lyapunov equations are derived and properties of the
associated solutions are given. The well-posedness of the closed loop systems
is shown and local and global stabilization results, respectively, are
obtained. An essential tool in the construction of the controls is the choice
of appropriate control shape functions. Results for a two dimensional double
well potential illustrate the theoretical findings in a numerical setup
Orbit Characterization, Stabilization and Composition on 3D Underactuated Bipedal Walking via Hybrid Passive Linear Inverted Pendulum Model
A Hybrid passive Linear Inverted Pendulum (H-LIP) model is proposed for characterizing, stabilizing and composing periodic orbits for 3D underactuated bipedal walking. Specifically, Period-l (P1) and Period -2 (P2) orbits are geometrically characterized in the state space of the H-LIP. Stepping controllers are designed for global stabilization of the orbits. Valid ranges of the gains and their optimality are derived. The optimal stepping controller is used to create and stabilize the walking of bipedal robots. An actuated Spring-loaded Inverted Pendulum (aSLIP) model and the underactuated robot Cassie are used for illustration. Both the aSLIP walking with PI or P2 orbits and the Cassie walking with all 3D compositions of the PI and P2 orbits can be smoothly generated and stabilized from a stepping-in-place motion. This approach provides a perspective and a methodology towards continuous gait generation and stabilization for 3D underactuated walking robots
Discrete solitons and nonlinear surface modes in semi-infinite waveguide arrays
We discuss the formation of self-trapped localized states near the edge of a
semi-infinite array of nonlinear waveguides. We study a crossover from
nonlinear surface states to discrete solitons by analyzing the families of odd
and even modes centered at different distances from the surface, and reveal the
physical mechanism of the nonlinearity-induced stabilization of surface modes.Comment: 4 double-column pages, 5 figures, submitted to Optics Letter
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