Cooperative surmounting of bottlenecks

The physics of activated escape of objects out of a metastable state plays a key role in diverse scientific areas involving chemical kinetics, diffusion and dislocation motion in solids, nucleation, electrical transport, motion of flux lines superconductors, charge density waves, and transport processes of macromolecules, to name but a few. The underlying activated processes present the multidimensional extension of the Kramers problem of a single Brownian particle. In comparison to the latter case, however, the dynamics ensuing from the interactions of many coupled units can lead to intriguing novel phenomena that are not present when only a single degree of freedom is involved. In this review we report on a variety of such phenomena that are exhibited by systems consisting of chains of interacting units in the presence of potential barriers. In the first part we consider recent developments in the case of a deterministic dynamics driving cooperative escape processes of coupled nonlinear units out of metastable states. The ability of chains of coupled units to undergo spontaneous conformational transitions can lead to a self-organised escape. The mechanism at work is that the energies of the units become re-arranged, while keeping the total energy conserved, in forming localised energy modes that in turn trigger the cooperative escape. We present scenarios of significantly enhanced noise-free escape rates if compared to the noise-assisted case. The second part deals with the collective directed transport of systems of interacting particles overcoming energetic barriers in periodic potential landscapes. Escape processes in both time-homogeneous and time-dependent driven systems are considered for the emergence of directed motion. It is shown that ballistic channels immersed in the associated high-dimensional phase space are the source for the directed long-range transport

The Dynamics of Coupled Oscillators

The subject is introduced by considering the treatment of oscillators in Mathematics from the simple Poincar´e oscillator, a single variable dynamical process defined on a circle, to the oscillatory dynamics of systems of differential equations. Some models of real oscillator systems are considered. Noise processes are included in the dynamics of the system. Coupling between oscillators is investigated both in terms of analytical systems and as coupled oscillator models. It is seen that driven oscillators can be used as a model of 2 coupled oscillators in 2 and 3 dimensions due to the dependence of the dynamics on the phase difference of the oscillators. This means that the dynamics are easily able to be modelled by a 1D or 2D map. The analysis of N coupled oscillator systems is also described. The human cardiovascular system is studied as an example of a coupled oscillator system. The heart oscillator system is described by a system of delay differential equations and the dynamics characterised. The mechanics of the coupling with the respiration is described. In particular the model of the heart oscillator includes the baroreceptor reflex with time delay whereby the aortic fluid pressure influences the heart rate and the peripheral resistance. Respiration is modelled as forcing the heart oscillator system. Locking zones caused by respiratory sinus arrhythmia (RSA), the synchronisation of the heart with respiration, are found by plotting the rotation number against respiration frequency. These are seen to be relatively narrow for typical physiological parameters and only occur for low ratios of heart rate to respiration frequency. Plots of the diastolic pressure and heart interval in terms of respiration phase parameterised by respiration frequency illustrate the dynamics of synchronisation in the human cardiovascular system

From Underactuation to Quasi‐Full Actuation: A Unifying Control Framework for Rigid and Elastic Joint Robot

The quest for animal-like performance in robots has driven the integration of elastic elements in their drive trains, sparking a revolution in robot design. Elastic robots can store and release potential energy, providing distinct advantages over traditional robots, such as enhanced safety in human-robot interaction, resilience to mechanical shocks, improved energy efficiency in cyclic tasks, and dynamic motion capabilities. Exploiting their full potential, however, necessitates novel control methods. This thesis advances the field of nonlinear control for underactuated systems and utilizes the results to push the boundaries of motion and interaction performance of elastic robots. Through real-life experiments and applications, the proposed controllers demonstrate that compliant robots hold promise as groundbreaking robotic technology. To achieve these objectives, we first derive a simultaneous phase space and input transformation that enables a specific class of underactuated Lagrangian systems to be treated as if fully actuated. These systems can be represented as the interconnection of actuated and underactuated subsystems, with the kinetic energy of each subsystem depending only on its own velocity. Elastic robots are typical representatives. We refer to the transformed system as quasi-fully actuated due to weak constraints on the new inputs. Fundamental aspects of the transforming equations are 1) the same Lagrangian function characterizes both the original and transformed systems, 2) the transformed system establishes a passive mapping between inputs and outputs, and 3) the solutions of both systems are in a one-to-one correspondence, describing the same physical reality. This correspondence allows us to study and control the behavior of the quasi-fully actuated system instead of the underactuated one. Thus, this approach unifies the control design for rigid and elastic joint robots, enabling the direct application of control results inherited from the fully-actuated case while ensuring closed-loop system stability and passivity. Unlike existing methods, the quasi-full actuation concept does not rely on inner control loops or the neglect and cancellation of dynamics. Notably, as joint stiffness values approach infinity, the control equivalent of a rigid robot is recovered. Building upon the quasi-full actuation concept, we extend energy-based control schemes such as energy shaping and damping injection, Euler-Lagrange controllers, and impedance control. Moreover, we introduce Elastic Structure Preserving (ESP) control, a passivity-based control scheme designed for robots with elastic or viscoelastic joints, guided by the principle of ``do as little as possible''. The underlying hope is that reducing the system shaping, i.e., having a closed-loop dynamics match in some way the robot's intrinsic structure, will award high performance with little control effort. By minimizing the system shaping, we obtain low-gain designs, which are favorable concerning robustness and facilitate the emergence of natural motions. A comparison with state-of-the-art controllers highlights the minimalistic nature of ESP control. Additionally, we present a synthesis method, based on purely geometric arguments, for achieving time-optimal rest-to-rest motions of an elastic joint with bounded input. Finally, we showcase the remarkable performance and robustness of the proposed ESP controllers on DLR David, an anthropomorphic robot implemented with variable impedance actuators. Experimental evidence reveals that ESP designs enable safe and compliant interaction with the environment and rigid-robot-level accuracy in free motion. Additionally, we introduce a control framework that allows DLR David to perform commercially relevant tasks, such as pick and place, teleoperation, hammer drilling into a concrete block, and unloading a dishwasher. The successful execution of these tasks provides compelling evidence that compliant robots have a promising future in commercial applications

International Conference on Mathematical Analysis and Applications in Science and Engineering – Book of Extended Abstracts

The present volume on Mathematical Analysis and Applications in Science and Engineering - Book of Extended Abstracts of the ICMASC’2022 collects the extended abstracts of the talks presented at the International Conference on Mathematical Analysis and Applications in Science and Engineering – ICMA2SC'22 that took place at the beautiful city of Porto, Portugal, in June 27th-June 29th 2022 (3 days). Its aim was to bring together researchers in every discipline of applied mathematics, science, engineering, industry, and technology, to discuss the development of new mathematical models, theories, and applications that contribute to the advancement of scientific knowledge and practice. Authors proposed research in topics including partial and ordinary differential equations, integer and fractional order equations, linear algebra, numerical analysis, operations research, discrete mathematics, optimization, control, probability, computational mathematics, amongst others. The conference was designed to maximize the involvement of all participants and will present the state-of- the-art research and the latest achievements.info:eu-repo/semantics/publishedVersio