Gait generation for underactuated compass-like robots using dissipative forces in the controller

This work addresses the problem of gait generation in underactuated compass-like biped robots using dissipative forces in the controller. Three different controllers are presented. The first one is a simultaneous interconnection and damping assignment passivity-based control with dissipative forces. The second one is an energy pumping-and-damping control, while the third one is an energy pumping or damping control action. Numerical case studies, comparisons, and critical discussions evaluate the performance of the proposed approaches

Crossover in Growth Law and Violation of Superuniversality in the Random Field Ising Model

We study the nonconserved phase ordering dynamics of the d = 2, 3 random field Ising model, quenched to below the critical temperature. Motivated by the puzzling results of previous work in two and three di- mensions, reporting a crossover from power-law to logarithmic growth, together with superuniversal behavior of the correlation function, we have undertaken a careful investigation of both the domain growth law and the autocorrelation function. Our main results are as follows: We confirm the crossover to asymptotic logarithmic behavior in the growth law, but, at variance with previous findings, the exponent in the preasymptotic power law is disorder-dependent, rather than being the one of the pure system. Furthermore, we find that the autocorre- lation function does not display superuniversal behavior. This restores consistency with previous results for the d = 1 system, and fits nicely into the unifying scaling scheme we have recently proposed in the study of the random bond Ising model.Comment: To be published in Physical Review

Coexistence of coarsening and mean field relaxation in the long-range Ising chain

We study the kinetics after a low temperature quench of the one-dimensional Ising model with long range interactions between spins at distance r decaying as r-α. For α = 0, i.e. mean field, all spins evolve coherently quickly driving the system towards a magnetised state. In the weak long range regime with α > 1 there is a coarsening behaviour with competing domains of opposite sign without development of magnetisation. For strong long range, i.e. 0 < α < 1, we show that the system shows both features, with probability Pα(N) of having the latter one, with the different limiting behaviours limN→∞ Pα(N) = 0 (at fixed α < 1) and limα→1 Pα(N) = 1 (at fixed finite N). We discuss how this behaviour is a manifestation of an underlying dynamical scaling symmetry due to the presence of a single characteristic time τα(N) ∼ Nα

Universality in solar flare and earthquake occurrence

Earthquakes and solar flares are phenomena involving huge and rapid releases of energy characterized by complex temporal occurrence. By analysing available experimental catalogs, we show that the stochastic processes underlying these apparently different phenomena have universal properties. Namely both problems exhibit the same distributions of sizes, inter-occurrence times and the same temporal clustering: we find afterflare sequences with power law temporal correlations as the Omori law for seismic sequences. The observed universality suggests a common approach to the interpretation of both phenomena in terms of the same driving physical mechanism

Universal dependence of the fluctuation-dissipation ratio on the transition rates in trap models

We investigate violations of the fluctuation-dissipation theorem in two classes of trap models by studying the influence of the perturbing field on the transition rates. We show that for perturbed rates depending upon the value of the observable at the arrival trap, a limiting value of the fluctuation-dissipation ratio does exist. However, the mechanism behind the emergence of this value is different in both classes of models. In particular, for an entropically governed dynamics (where the perturbing field shifts the relative population of traps according to the value of the observable) perturbed rates are argued to take a form that guarantees the existence of a limiting value for the effective temperature, utterly related to the exponential character of the distribution of trap energies. Fluctuation-dissipation (FD) plots reproduce some of the patterns found in a broad class of glassy systems, reinforcing the idea that structural glasses self-generate a dynamical measure that is captured by phenomenological trap models.Comment: 15 pages, 4 figures (Latex) Misprints corrected and additional comments included in Section 4. Contribution to a special issue of J. Phys. A "Statistical Physics of Disordered Systems

On the universality of the fluctuation-dissipation ratio in non-equilibrium critical dynamics

The two-time nonequilibrium correlation and response functions in 1D kinetic classical spin systems with non-conserved dynamics and quenched to their zero-temperature critical point are studied. The exact solution of the kinetic Ising model with Glauber dynamics for a wide class of initial states allows for an explicit test of the universality of the non-equilibrium limit fluctuation-dissipation ratio X_{\infty}. It is shown that the value of X_{\infty} depends on whether the initial state has finitely many domain walls or not and thus two distinct dynamic universality classes can be identified in this model. Generic 1D kinetic spin systems with non-conserved dynamics fall into the same universality classes as the kinetic Glauber-Ising model provided the dynamics is invariant under the C-symmetry of simultaneous spin and magnetic-field reversal. While C-symmetry is satisfied for magnetic systems, it need not be for lattice gases which may therefore display hitherto unexplored types of non-universal kinetics

Nonequilibrium relaxation and scaling properties of the two-dimensional Coulomb glass in the aging regime

We employ Monte Carlo simulations to investigate the two-time density autocorrelation function for the two-dimensional Coulomb glass. We find that the nonequilibrium relaxation properties of this highly correlated disordered system can be described by a full aging scaling ansatz. The scaling exponents are non-universal, and depend on temperature and charge density.Comment: 6 pages, 3 figures included; revised version: corrected exponents, and some additional explanations and references added; to appear in EP

Fluctuation-Dissipation relations far from Equilibrium

In this Article we review some recent progresses in the field of non-equilibrium linear response theory. We show how a generalization of the fluctuation-dissipation theorem can be derived for Markov processes, and discuss the Cugliandolo-Kurchan \cite{Cugliandolo93} fluctuation dissipation relation for aging systems and the theorem by Franz {\it et. al.} \cite{Franz98} relating static and dynamic properties. We than specialize the subject to phase-ordering systems examining the scaling properties of the linear response function and how these are determined by the behavior of topological defects. We discuss how the connection between statics and dynamics can be violated in these systems at the lower critical dimension or as due to stochastic instability.Comment: 18 pages, 10 figure