Hybrid Zero Dynamics of Planar Biped Walkers

Planar, underactuated, biped walkers form an important domain of applications for hybrid dynamical systems. This paper presents the design of exponentially stable walking controllers for general planar bipedal systems that have one degree-of-freedom greater than the number of available actuators. The within-step control action creates an attracting invariant set—a two-dimensional zero dynamics submanifold of the full hybrid model—whose restriction dynamics admits a scalar linear time-invariant return map. Exponentially stable periodic orbits of the zero dynamics correspond to exponentially stabilizable orbits of the full model. A convenient parameterization of the hybrid zero dynamics is imposed through the choice of a class of output functions. Parameter optimization is used to tune the hybrid zero dynamics in order to achieve closed-loop, exponentially stable walking with low energy consumption, while meeting natural kinematic and dynamic constraints. The general theory developed in the paper is illustrated on a five link walker, consisting of a torso and two legs with knees

Zitterbewegung of electrons and holes in III-V semiconductor quantum wells

The notion of zitterbewegung is a long-standing prediction of relativistic quantum mechanics. Here we extend earlier theoretical studies on this phenomenon for the case of III-V zinc-blende semiconductors which exhibit particularly strong spin-orbit coupling. This property makes nanostructures made of these materials very favorable systems for possible experimental observations of zitterbewegung. Our investigations include electrons in n-doped quantum wells under the influence of both Rashba and Dresselhaus spin-orbit interaction, and also the two-dimensional hole gas. Moreover, we give a detailed anaysis of electron zitterbewegung in quantum wires which appear to be particularly suited for experimentally observing this effect.Comment: 10 pages, 3 figures include

Imaging a 1-electron InAs quantum dot in an InAs/InP nanowire

Nanowire heterostructures define high-quality few-electron quantum dots for nanoelectronics, spintronics and quantum information processing. We use a cooled scanning probe microscope (SPM) to image and control an InAs quantum dot in an InAs/InP nanowire, using the tip as a movable gate. Images of dot conductance vs. tip position at T = 4.2 K show concentric rings as electrons are added, starting with the first electron. The SPM can locate a dot along a nanowire and individually tune its charge, abilities that will be very useful for the control of coupled nanowire dots

On-Line Symbolic Constraint Embedding for Simulation of Hybrid Dynamical Systems

In this paper we present a simulator designed to handle multibody systems with changing constraints, wherein the equations of motion for each of its constraint configurations are formulated in minimal ODE form with constraints embedded before they are passed to an ODE solver. The constraint-embedded equations are formulated symbolically according to a re-combination of terms of the unconstrained equations, and this symbolic process is undertaken on-line by the simulator. Constraint-embedding undertaken on-the-fly enables the simulation of systems with an ODE solver for which constraints are not known prior to simulation start or for which the enumeration of all constraint conditions would be unwieldy because of their complexity or number. Issues of drift associated with DAE solvers that usually require stabilization are sidestepped with the constraint-embedding approach. We apply nomenclature developed for hybrid dynamical systems to describe the system with changing constraints and to distinguish the roles of the forward dynamics solver, a collision detector, and an impact resolver. We have prototyped the simulator in MATLAB and demonstrate the design using three representative examples.Peer Reviewedhttp://deepblue.lib.umich.edu/bitstream/2027.42/43263/1/11044_2005_Article_269.pd