Leaders do not look back, or do they?

We study the effect of adding to a directed chain of interconnected systems a directed feedback from the last element in the chain to the first. The problem is closely related to the fundamental question of how a change in network topology may influence the behavior of coupled systems. We begin the analysis by investigating a simple linear system. The matrix that specifies the system dynamics is the transpose of the network Laplacian matrix, which codes the connectivity of the network. Our analysis shows that for any nonzero complex eigenvalue $\lambda$ of this matrix, the following inequality holds: $\frac{|\Im \lambda |}{|\Re \lambda |} \leq \cot\frac{\pi}{n}$. This bound is sharp, as it becomes an equality for an eigenvalue of a simple directed cycle with uniform interaction weights. The latter has the slowest decay of oscillations among all other network configurations with the same number of states. The result is generalized to directed rings and chains of identical nonlinear oscillators. For directed rings, a lower bound $\sigma_c$ for the connection strengths that guarantees asymptotic synchronization is found to follow a similar pattern: $\sigma_c=\frac{1}{1-\cos\left( 2\pi /n\right)}$. Numerical analysis revealed that, depending on the network size $n$, multiple dynamic regimes co-exist in the state space of the system. In addition to the fully synchronous state a rotating wave solution occurs. The effect is observed in networks exceeding a certain critical size. The emergence of a rotating wave highlights the importance of long chains and loops in networks of oscillators: the larger the size of chains and loops, the more sensitive the network dynamics becomes to removal or addition of a single connection

Adaptive Observers and Parameter Estimation for a Class of Systems Nonlinear in the Parameters

We consider the problem of asymptotic reconstruction of the state and parameter values in systems of ordinary differential equations. A solution to this problem is proposed for a class of systems of which the unknowns are allowed to be nonlinearly parameterized functions of state and time. Reconstruction of state and parameter values is based on the concepts of weakly attracting sets and non-uniform convergence and is subjected to persistency of excitation conditions. In absence of nonlinear parametrization the resulting observers reduce to standard estimation schemes. In this respect, the proposed method constitutes a generalization of the conventional canonical adaptive observer design.Comment: Preliminary version is presented at the 17-th IFAC World Congress, 6-11 Seoul, 200

Exponential Synchronization of Nonlinear Oscillators Under Sampled-Data Coupling

This paper presents a novel approach towards synchronization analysis of nonlinear oscillatory systems, bidi-rectionally coupled via a networked communication channel. The system under consideration is a two-agent nonlinear system, under the constraint that information is transmitted between the two systems using a sampled-data communication strategy that could be periodic or aperiodic. The networked system dynamics is remodelled as a feedback-interconnection of a continuous-time system, and an operator that accounts for the communication constraints. By studying the properties of this feedback-interconnection in the framework of dissipativity theory, we provide a novel criterion that guarantees exponential synchronization. The provided criterion also aids in deciding the trade-off between a bound on the sampling intervals, the coupling gain, and the desired transient rate of synchronization. Finally, the theoretical results are illustrated using a two-agent Fitzhugh-Nagumo system

Exponential Synchronization of Nonlinear Oscillators Under Sampled-Data Coupling

International audienceThis paper presents a novel approach towards synchronization analysis of nonlinear oscillatory systems, bidi-rectionally coupled via a networked communication channel. The system under consideration is a two-agent nonlinear system, under the constraint that information is transmitted between the two systems using a sampled-data communication strategy that could be periodic or aperiodic. The networked system dynamics is remodelled as a feedback-interconnection of a continuous-time system, and an operator that accounts for the communication constraints. By studying the properties of this feedback-interconnection in the framework of dissipativity theory, we provide a novel criterion that guarantees exponential synchronization. The provided criterion also aids in deciding the trade-off between a bound on the sampling intervals, the coupling gain, and the desired transient rate of synchronization. Finally, the theoretical results are illustrated using a two-agent Fitzhugh-Nagumo system

Fast northward energy transfer in the Atlantic due to Agulhas rings

The adiabatic transit time of wave energy radiated by an Agulhas ring released in the South Atlantic Ocean to the North Atlantic Ocean is investigated in a two-layer ocean model. Of particular interest is the arrival time of baroclinic energy in the northern part of the Atlantic, because it is related to variations in the meridional overturning circulation. The influence of the Mid-Atlantic Ridge is also studied, because it allows for the conversion from barotropic to baroclinic wave energy and the generation of topographic waves. Barotropic energy from the ring is present in the northern part of the model basin within 10 days. From that time, the barotropic energy keeps rising to attain a maximum 500 days after initiation. This is independent of the presence or absence of a ridge in the model basin. Without a ridge in the model, the travel time of the baroclinic signal is 1300 days. This time is similar to the transit time of the ring from the eastern to the western coast of the model basin. In the presence of the ridge, the baroclinic signal arrives in the northern part of the model basin after approximately 10 days, which is the same time scale as that of the barotropic signal. It is apparent that the ridge can facilitate the energy conversion from barotropic to baroclinic waves and the slow baroclinic adjustment can be bypassed. The meridional overturning circulation, parameterized in two ways as either a purely barotropic or a purely baroclinic phenomenon, also responds after 1300 days. The ring temporarily increases the overturning strength. Th presence of the ridge does not alter the time scales

Semi-passivity and synchronization of diffusively coupled neuronal oscillators

We discuss synchronization in networks of neuronal oscillators which are interconnected via diffusive coupling, i.e. linearly coupled via gap junctions. In particular, we present sufficient conditions for synchronization in these networks using the theory of semi-passive and passive systems. We show that the conductance-based neuronal models of Hodgkin-Huxley, Morris-Lecar, and the popular reduced models of FitzHugh-Nagumo and Hindmarsh-Rose all satisfy a semi-passivity property, i.e. that is the state trajectories of such a model remain oscillatory but bounded provided that the supplied (electrical) energy is bounded. As a result, for a wide range of coupling configurations, networks of these oscillators are guaranteed to possess ultimately bounded solutions. Moreover, we demonstrate that when the coupling is strong enough the oscillators become synchronized. Our theoretical conclusions are confirmed by computer simulations with coupled \HR and \ML oscillators. Finally we discuss possible "instabilities" in networks of oscillators induced by the diffusive coupling

Prognostic Value of [¹⁸F]FDG PET Radiomics to Detect Peritoneal and Distant Metastases in Locally Advanced Gastric Cancer—A Side Study of the Prospective Multicentre PLASTIC Study

Aim: To improve identification of peritoneal and distant metastases in locally advanced gastric cancer using [18F]FDG-PET radiomics. Methods: [18F]FDG-PET scans of 206 patients acquired in 16 different Dutch hospitals in the prospective multicentre PLASTIC-study were analysed. Tumours were delineated and 105 radiomic features were extracted. Three classification models were developed to identify peritoneal and distant metastases (incidence: 21%): a model with clinical variables, a model with radiomic features, and a clinicoradiomic model, combining clinical variables and radiomic features. A least absolute shrinkage and selection operator (LASSO) regression classifier was trained and evaluated in a 100-times repeated random split, stratified for the presence of peritoneal and distant metastases. To exclude features with high mutual correlations, redundancy filtering of the Pearson correlation matrix was performed (r = 0.9). Model performances were expressed by the area under the receiver operating characteristic curve (AUC). In addition, subgroup analyses based on Lauren classification were performed. Results: None of the models could identify metastases with low AUCs of 0.59, 0.51, and 0.56, for the clinical, radiomic, and clinicoradiomic model, respectively. Subgroup analysis of intestinal and mixed-type tumours resulted in low AUCs of 0.67 and 0.60 for the clinical and radiomic models, and a moderate AUC of 0.71 in the clinicoradiomic model. Subgroup analysis of diffuse-type tumours did not improve the classification performance. Conclusion: Overall, [18F]FDG-PET-based radiomics did not contribute to the preoperative identification of peritoneal and distant metastases in patients with locally advanced gastric carcinoma. In intestinal and mixed-type tumours, the classification performance of the clinical model slightly improved with the addition of radiomic features, but this slight improvement does not outweigh the laborious radiomic analysis.</p

Dutch Robotics 2011 adult-size team description

This document presents the 2011 edition of the team Dutch Robotics from The Netherlands. Our team gathers three Dutch technical universities, namely Delft University of Technology, Eindhoven University of Technology and University of Twente, and the commercial company Philips. We contribute an adult-size humanoid robot TUlip, which is designed based on theory of the limit cycle walking developed in our earlier research. The key of our theory is that stable periodic walking gaits can be achieved even without high-bandwidth robot position control. Our control approach is based on simultaneous position and force control. For accurate force control, we make use of the Series Elastic Actuation. The control software of TUlip is based on the Darmstadt’s RoboFrame, and it runs on a PC104 computer with Linux Xenomai. The vision system consists of two wide-angle cameras, each interfaced with a dedicated Blackfin processor running vision algorithms, and a wireless networking interface