Hierarchical and Safe Motion Control for Cooperative Locomotion of Robotic Guide Dogs and Humans: A Hybrid Systems Approach

This paper presents a hierarchical control strategy based on hybrid systems theory, nonlinear control, and safety-critical systems to enable cooperative locomotion of robotic guide dogs and visually impaired people. We address high-dimensional and complex hybrid dynamical models that represent collaborative locomotion. At the high level of the control scheme, local and nonlinear baseline controllers, based on the virtual constraints approach, are designed to induce exponentially stable dynamic gaits. The baseline controller for the leash is assumed to be a nonlinear controller that keeps the human in a safe distance from the dog while following it. At the lower level, a real-time quadratic programming (QP) is solved for modifying the baseline controllers of the robot as well as the leash to avoid obstacles. In particular, the QP framework is set up based on control barrier functions (CBFs) to compute optimal control inputs that guarantee safety while being close to the baseline controllers. The stability of the complex periodic gaits is investigated through the Poincare return map. To demonstrate the power of the analytical foundation, the control algorithms are transferred into an extensive numerical simulation of a complex model that represents cooperative locomotion of a quadrupedal robot, referred to as Vision 60, and a human model. The complex model has 16 continuous-time domains with 60 state variables and 20 control inputs

Long-lived states of oscillator chain with dynamical traps

A simple model of oscillator chain with dynamical traps and additive white noise is considered. Its dynamics was studied numerically. As demonstrated, when the trap effect is pronounced nonequilibrium phase transitions of a new type arise. Locally they manifest themselves via distortion of the particle arrangement symmetry. Depending on the system parameters the particle arrangement is characterized by the corresponding distributions taking either a bimodal form, or twoscale one, or unimodal onescale form which, however, deviates substantially from the Gaussian distribution. The individual particle velocities exhibit also a number of anomalies, in particular, their distribution can be extremely wide or take a quasi-cusp form. A large number of different cooperative structures and superstructures made of these formations are found in the visualized time patterns. Their evolution is, in some sense, independent of the individual particle dynamics, enabling us to regard them as dynamical phases.Comment: 8 pages, 5 figurs, TeX style of European Physical Journa

The role of smart sensor networks for voltage monitoring in smart grids

The large-scale deployment of the Smart Grid paradigm will support the evolution of conventional electrical power systems toward active, flexible and self-healing web energy networks composed of distributed and cooperative energy resources. In a Smart Grid platform, distributed voltage monitoring is one of the main issues to address. In this field, the application of traditional hierarchical monitoring paradigms has some disadvantages that could hinder their application in Smart Grids where the constant growth of grid complexity and the need for massive pervasion of Distribution Generation Systems (DGS) require more scalable, more flexible control and regulation paradigms. To try to overcome these challenges, this paper proposes the concept of a decentralized non-hierarchal voltage monitoring architecture based on intelligent and cooperative smart entities. These devices employ traditional sensors to acquire local bus variables and mutually coupled oscillators to assess the main variables describing the global grid state

Predictability of catastrophic events: material rupture, earthquakes, turbulence, financial crashes and human birth

We propose that catastrophic events are "outliers" with statistically different properties than the rest of the population and result from mechanisms involving amplifying critical cascades. Applications and the potential for prediction are discussed in relation to the rupture of composite materials, great earthquakes, turbulence and abrupt changes of weather regimes, financial crashes and human parturition (birth).Comment: Latex document of 22 pages including 6 ps figures, in press in PNA

Fractals in the Nervous System: conceptual Implications for Theoretical Neuroscience

This essay is presented with two principal objectives in mind: first, to document the prevalence of fractals at all levels of the nervous system, giving credence to the notion of their functional relevance; and second, to draw attention to the as yet still unresolved issues of the detailed relationships among power law scaling, self-similarity, and self-organized criticality. As regards criticality, I will document that it has become a pivotal reference point in Neurodynamics. Furthermore, I will emphasize the not yet fully appreciated significance of allometric control processes. For dynamic fractals, I will assemble reasons for attributing to them the capacity to adapt task execution to contextual changes across a range of scales. The final Section consists of general reflections on the implications of the reviewed data, and identifies what appear to be issues of fundamental importance for future research in the rapidly evolving topic of this review

Editorial Comment on the Special Issue of "Information in Dynamical Systems and Complex Systems"

This special issue collects contributions from the participants of the "Information in Dynamical Systems and Complex Systems" workshop, which cover a wide range of important problems and new approaches that lie in the intersection of information theory and dynamical systems. The contributions include theoretical characterization and understanding of the different types of information flow and causality in general stochastic processes, inference and identification of coupling structure and parameters of system dynamics, rigorous coarse-grain modeling of network dynamical systems, and exact statistical testing of fundamental information-theoretic quantities such as the mutual information. The collective efforts reported herein reflect a modern perspective of the intimate connection between dynamical systems and information flow, leading to the promise of better understanding and modeling of natural complex systems and better/optimal design of engineering systems