scholarly journals Preparing to move: Setting initial conditions to simplify interactions with complex objects

2021 ◽  
Vol 17 (12) ◽  
pp. e1009597
Author(s):  
Rashida Nayeem ◽  
Salah Bazzi ◽  
Mohsen Sadeghi ◽  
Neville Hogan ◽  
Dagmar Sternad
Keyword(s):  
Steady State ◽  
Force Feedback ◽  
Inverse Dynamics ◽  
Chaotic Behavior ◽  
Initial Conditions ◽  
Human Subjects ◽  
Virtual Object ◽  
Complex Objects ◽  
Initial State ◽  
Alternative Hypotheses

Humans dexterously interact with a variety of objects, including those with complex internal dynamics. Even in the simple action of carrying a cup of coffee, the hand not only applies a force to the cup, but also indirectly to the liquid, which elicits complex reaction forces back on the hand. Due to underactuation and nonlinearity, the object’s dynamic response to an action sensitively depends on its initial state and can display unpredictable, even chaotic behavior. With the overarching hypothesis that subjects strive for predictable object-hand interactions, this study examined how subjects explored and prepared the dynamics of an object for subsequent execution of the target task. We specifically hypothesized that subjects find initial conditions that shorten the transients prior to reaching a stable and predictable steady state. Reaching a predictable steady state is desirable as it may reduce the need for online error corrections and facilitate feed forward control. Alternative hypotheses were that subjects seek to reduce effort, increase smoothness, and reduce risk of failure. Motivated by the task of ‘carrying a cup of coffee’, a simplified cup-and-ball model was implemented in a virtual environment. Human subjects interacted with this virtual object via a robotic manipulandum that provided force feedback. Subjects were encouraged to first explore and prepare the cup-and-ball before initiating a rhythmic movement at a specified frequency between two targets without losing the ball. Consistent with the hypotheses, subjects increased the predictability of interaction forces between hand and object and converged to a set of initial conditions followed by significantly decreased transients. The three alternative hypotheses were not supported. Surprisingly, the subjects’ strategy was more effortful and less smooth, unlike the observed behavior in simple reaching movements. Inverse dynamics of the cup-and-ball system and forward simulations with an impedance controller successfully described subjects’ behavior. The initial conditions chosen by the subjects in the experiment matched those that produced the most predictable interactions in simulation. These results present first support for the hypothesis that humans prepare the object to minimize transients and increase stability and, overall, the predictability of hand-object interactions.

Approximating Chaotic Behavior

1993 ◽  
Vol 4 (2) ◽  
pp. 113-119 ◽  
Author(s):  
Allen Neuringer ◽  
Cheryl Voss
Keyword(s):  
Chaos Theory ◽  
Chaotic Behavior ◽  
Initial Conditions ◽  
Human Subjects ◽  
Autocorrelation Functions ◽  
Human Behaviors ◽  
Difference Function ◽  
Chaos Sequences

Human subjects received feedback showing how closely their responses approximated the chaotic output of the logistic difference function. In Experiment 1, subjects generated analog responses by placing a pointer along a line. In Experiment 2, they generated digital responses in the form of three-digit numbers. In Experiment 3, feedback was sometimes provided and other times withheld. Responses came to approximate three defining characteristics of logistic chaos: Sequences were “noisy,” they were extremely sensitive to initial conditions, and lag 1 autocorrelation functions were parabolic in form. Chaos theory may describe some highly variable although precisely determined human behaviors.

scholarly journals Thixotropic Behavior of Reconstituted Debris-Flow Mixture

Water ◽  
2021 ◽  
Vol 13 (2) ◽  
pp. 153
Author(s):  
Leonardo Schippa ◽  
Ferruccio Doghieri ◽  
Anna Maria Pellegrino ◽  
Elisa Pavesi
Keyword(s):  
Steady State ◽  
Shear Rate ◽  
Yield Stress ◽  
Initial Conditions ◽  
Sediment Concentration ◽  
Time Dependent ◽  
Initial State ◽  
Creep Tests ◽  
Lower Shear ◽  
Short Period

Time-dependent rheological properties and thixotropy of reconstituted debris-flows samples taken from channel bank deposits are examined using a commercial rheometer equipped with a vane rotor geometric system. Sweep tests and creep tests were carried out involving mixtures having different grain concentrations ranging between 50% and 58%. Different initial conditions of the mixtures were considered in order to analyze the effects of aging and rejuvenation (thixotropy) over a short period of time and long period of time. Tested slurries show viscosity bifurcation, yield stress and time-dependent behavior. According to the experimental results, three different regimes were identified: a lower shear rate regime, corresponding to a shear rate lower than the critical value; an intermediate banding shear rate regime characterized by static and dynamic yield stress level; and a higher shear rate regime where the flowing debris behaves as a non-Newtonian fluid characterized by a constant steady state ultimate apparent viscosity. In any case, the initial state of the mixture and the sediment concentration affects the ultimate steady state rheology and the time-dependent (thixotropy) slurries’ behavior.

scholarly journals Chaotic Dynamics of the Interface between Dielectric Liquids at the Regime of Stabilized Kelvin-Helmholtz Instability by a Tangential Electric Field

Fluids ◽  
2021 ◽  
Vol 6 (3) ◽  
pp. 125
Author(s):  
Evgeny A. Kochurin ◽  
Nikolay M. Zubarev
Keyword(s):  
Electric Field ◽  
Chaotic Behavior ◽  
Initial Conditions ◽  
Fluid Motion ◽  
Structural Instability ◽  
Chaotic Regime ◽  
Helmholtz Instability ◽  
Initial State ◽  
Physical Point ◽  
Dielectric Liquids

The nonlinear dynamics of the interface between two immiscible dielectric liquids at the regime of suppressed Kelvin-Helmholtz instability by external horizontal electric field is studied theoretically. The initial equations of the fluids motion are reduced to a single weakly nonlinear integro-differential equation that describes the interaction of solitary waves (rational solitons) propagating along the interface. The dynamics of two interacting solitons is regular and integrable; they can combine into a stable wave packet (breather). It is shown that the interaction of three solitons becomes complex and, for a wide rang of initial conditions, chaotic. The numerically obtained Poincaré sections demonstrate the destruction of toroidal trajectories in the phase space during the transition of the system to a chaotic regime of fluid motion. Such a behaviour is consistent with the Kolmogorov-Arnold-Moser theory describing quasi-periodic chaotic motion in Hamiltonian systems. At the developed chaotic state, the system fast loses the information on its initial state; the corresponding estimate for Lyapunov exponent is obtained. From the physical point of view, the chaotic behavior of the system is related with structural instability of the soliton triplet. The triplet can decay into a solitary wave and stable breather consisting of two interacting solitons.

scholarly journals Handling Initial Conditions in Vector Fitting for Real Time Modeling of Power System Dynamics

Energies ◽  
2021 ◽  
Vol 14 (9) ◽  
pp. 2471
Author(s):  
Tommaso Bradde ◽  
Samuel Chevalier ◽  
Marco De Stefano ◽  
Stefano Grivet-Talocia ◽  
Luca Daniel
Keyword(s):  
Dynamical Systems ◽  
Power System ◽  
System Dynamics ◽  
Real Time ◽  
Initial Conditions ◽  
Test System ◽  
Initial State ◽  
Power System Dynamics ◽  
Vector Fitting ◽  
Time Modeling

This paper develops a predictive modeling algorithm, denoted as Real-Time Vector Fitting (RTVF), which is capable of approximating the real-time linearized dynamics of multi-input multi-output (MIMO) dynamical systems via rational transfer function matrices. Based on a generalization of the well-known Time-Domain Vector Fitting (TDVF) algorithm, RTVF is suitable for online modeling of dynamical systems which experience both initial-state decay contributions in the measured output signals and concurrently active input signals. These adaptations were specifically contrived to meet the needs currently present in the electrical power systems community, where real-time modeling of low frequency power system dynamics is becoming an increasingly coveted tool by power system operators. After introducing and validating the RTVF scheme on synthetic test cases, this paper presents a series of numerical tests on high-order closed-loop generator systems in the IEEE 39-bus test system.

Steady-State Dynamic Response of a Limited Slip System

1968 ◽  
Vol 35 (2) ◽  
pp. 322-326 ◽  
Author(s):  
W. D. Iwan
Keyword(s):  
Steady State ◽  
Dynamic Response ◽  
Slip System ◽  
External Load ◽  
Initial Conditions ◽  
Viscous Damping ◽  
Steady State Response ◽  
Response Curves ◽  
State Response ◽  
System Nonlinearity

The steady-state response of a system constrained by a limited slip joint and excited by a trigonometrically varying external load is discussed. It is shown that the system may possess such features as disconnected response curves and jumps in response depending on the strength of the system nonlinearity, the level of excitation, the amount of viscous damping, and the initial conditions of the system.

scholarly journals Study of the influence of initial-state fluctuations on hydrodynamic simulations

2020 ◽  
Vol 245 ◽  
pp. 06005
Author(s):  
Marcin Słodkowski ◽  
Patryk Gawryszewski ◽  
Dominik Setniewski
Keyword(s):  
Initial Conditions ◽  
Graphics Processing Unit ◽  
Heavy Ion ◽  
Processing Unit ◽  
Initial State ◽  
Final State ◽  
Hydrodynamic Simulation ◽  
Hydrodynamic Simulations ◽  
Cartesian Coordinate ◽  
Ion Collision

In this work, we are focusing on assessing the contribution of the initial-state fluctuations of heavy ion collision in the hydrodynamic simulations. We are trying to answer the question of whether the hydrodynamic simulation retains the same level of fluctuation in the final-state as for the initial stage. In another scenario, the hydrodynamic simulations of the fluctuation drowns in the final distribution of expanding matter. For this purpose, we prepared sufficient relativistic hydrodynamic program to study A+A interaction which allows analysing initial-state fluctuations in the bulk nuclear matter. For such an assumption, it is better to use high spatial resolution. Therefore, we applied the (3+1) dimensional Cartesian coordinate system. We implemented our program using parallel computing on graphics cards processors - Graphics Processing Unit (GPU). Simulations were carried out with various levels of fluctuation in initial conditions using the average method of events coming from UrQMD models. Energy density distributions were analysed and the contribution of fluctuations in initial conditions was assessed in the hydrodynamic simulation.

scholarly journals Dynamic Analysis and Cryptographic Application of a Sinusoidal-polynomial Composite Chaotic System

2021 ◽  
Author(s):  
Hegui Zhu ◽  
Jiangxia Ge ◽  
Wentao Qi ◽  
Xiangde Zhang ◽  
Xiaoxiong Lu
Keyword(s):  
Image Encryption ◽  
Chaotic System ◽  
Chaotic Behavior ◽  
Initial Conditions ◽  
Encryption Algorithm ◽  
Topological Transitivity ◽  
Detailed Simulation ◽  
Definition Of ◽  
Image Encryption Algorithm ◽  
Sensitivity To Initial Conditions

Abstract Owning to complex properties of ergodicity, non-periodic ability and sensitivity to initial states, chaotic systems are widely used in cryptography. In this paper, we propose a sinusoidal--polynomial composite chaotic system (SPCCS), and prove that it satisfies Devaney's definition of chaos: the sensitivity to initial conditions, topological transitivity and density of periodic points. The experimental results show that the SPCCS has better unpredictability and more complex chaotic behavior than the classical chaotic maps. Furthermore, we provide a new image encryption algorithm combining pixel segmentation operation, block chaotic matrix confusing operation, and pixel diffusion operation with the SPCCS. Detailed simulation results verify effectiveness of the proposed image encryption algorithm.

Exact Dynamics in a Model of the Bimolecular Reaction A+B→ 0

1992 ◽  
Vol 290 ◽  
Author(s):  
Eric Clément ◽  
Patrick Leroux-Hugon ◽  
Leonard M. Sander
Keyword(s):  
Exact Solution ◽  
Steady State ◽  
Initial Conditions ◽  
Finite Size ◽  
Bimolecular Reaction ◽  
Reaction Model

AbstractWe have previously given an exact solution [1] for the steady state of a model of the bimolecular reaction model A+B→ 0 due to Fichthorn et al. [2]. The dimensionality of the substrate plays a central role, and below d=2 segregation on macroscopic scales becomes important: above d=2 saturation sets in for finite size systems. Here we extend our treatment to give an exact account of the dynamics and show how various initial conditions develop into the segregated and saturated regimes. In certain conditions we find logarithmic relaxation which is related to the dimensionality.

The Numerical Analysis of Temperature Field During Moveable Induction Heating of Steel Plate

2012 ◽  
Vol 28 (02) ◽  
pp. 73-81
Author(s):  
Xue-biao Zhang ◽  
Yu-long Yang ◽  
Yu-jun Liu
Keyword(s):  
Temperature Field ◽  
Steady State ◽  
Numerical Model ◽  
Induction Heating ◽  
Temperature Difference ◽  
Steel Plate ◽  
Heating Process ◽  
Quasi Steady State ◽  
Initial State ◽  
Plate Temperature

In shipyards, hull curved plate formation is an important stage with respect to productivity and accuracy control of curved plates. Because the power and its distribution of induction heat source are easier to control and reproduce, induction heating is expected to be applied in the line heating process. This paper studies the moveable induction heating process of steel plate and develops a numerical model of electromagneticthermal coupling analysis and the numerical results consistent with the experimental results. The numerical model is used to analyze the temperature changing rules and the influences on plate temperature field of heating speed of moveable induction heating of steel plate, and the following conclusions are drawn. First, the process of moveable induction heating of steel plate can be divided into three phases of initial state, quasi-steady state, and end state. The temperature difference between the top and bottom surfaces of the steel plate at the initial state is the biggest; it remains unchanged at the quasi-steady state and it is the smallest at the end state. Second, obvious end effect occurs when the edges of the steel plate are heated by the inductor, which causes a decrease in temperature difference between the top and bottom surfaces of the steel plate that is unfavorable for formation of pillow shape plates. Third, with the increase of heating speed, the temperature difference between the top and bottom surfaces of the steel plate increases gradually.

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