Design of Optimized Multiobjective Function for Bipedal Locomotion Based on Energy and Stability

2019 ◽  
Vol 28 (1) ◽  
pp. 133-152 ◽  
Author(s):  
Manish Raj ◽  
Gora C. Nandi

Abstract This paper presents a novel analytical method to develop the multiobjective function including energy and stability functions. The energy function has been developed by unique approach of orbital energy concept and the stability function obtained by modifying the pre-existing zero moment point (ZMP) trajectory. These functions are optimized using real coded genetic algorithm to produce an optimum set of walk parameters. The analytical results show that, when the energy function is optimized, the stability of the robot decreases. Similarly, if the stability function is optimized, the energy consumed by the robot increases. Thus, there is a clear trade-off between the stability and energy functions. Thus, we propose the multiobjective evolutionary algorithm to yield the optimum value of the walk parameters. The results are verified by Nao robot. This approach increases the energy efficiency of Nao robot by 67.05%, and stability increases by 75%. Furthermore, this method can be utilized on all ZMP classed bipeds.

1999 ◽  
Vol 09 (12) ◽  
pp. 2315-2320 ◽  
Author(s):  
LOUIS M. PECORA ◽  
THOMAS L. CARROLL

We show that many coupled oscillator array configurations considered in the literature can be put into a simple form so that determining the stability of the synchronous state can be done by a master stability function which solves, once and for all, the problem of synchronous stability for many couplings of that oscillator.


2020 ◽  
Vol 30 (08) ◽  
pp. 2050123
Author(s):  
Zahra Faghani ◽  
Zhen Wang ◽  
Fatemeh Parastesh ◽  
Sajad Jafari ◽  
Matjaž Perc

Synchronization in complex networks is an evergreen subject with many practical applications across the natural and social sciences. The stability of synchronization is thereby crucial for determining whether the dynamical behavior is stable or not. The master stability function is commonly used to that effect. In this paper, we study whether there is a relation between the stability of synchronization and the proximity to certain bifurcation types. We consider four different nonlinear dynamical systems, and we determine their master stability functions in dependence on key bifurcation parameters. We also calculate the corresponding bifurcation diagrams. By means of systematic comparisons, we show that, although there are some variations in the master stability functions in dependence on bifurcation proximity and type, there is in fact no general relation between synchronization stability and bifurcation type. This has important implication for the restrained generalizability of findings concerning synchronization in complex networks for one type of node dynamics to others.


1978 ◽  
Vol 43 (3) ◽  
pp. 481-486 ◽  
Author(s):  
H. Jerome Keisler

AbstractLet T be a complete theory with infinite models in a countable language. The stability function gT(κ) is defined as the supremum of the number of types over models of T of power κ. It is proved that there are only six possible stability functions, namely κ, κ + 2ω, κω, ded κ, (ded κ)ω, 2κ.


Atmosphere ◽  
2021 ◽  
Vol 12 (2) ◽  
pp. 284
Author(s):  
Evan A. Kalina ◽  
Mrinal K. Biswas ◽  
Jun A. Zhang ◽  
Kathryn M. Newman

The intensity and structure of simulated tropical cyclones (TCs) are known to be sensitive to the planetary boundary layer (PBL) parameterization in numerical weather prediction models. In this paper, we use an idealized version of the Hurricane Weather Research and Forecast system (HWRF) with constant sea-surface temperature (SST) to examine how the configuration of the PBL scheme used in the operational HWRF affects TC intensity change (including rapid intensification) and structure. The configuration changes explored in this study include disabling non-local vertical mixing, changing the coefficients in the stability functions for momentum and heat, and directly modifying the Prandtl number (Pr), which controls the ratio of momentum to heat and moisture exchange in the PBL. Relative to the control simulation, disabling non-local mixing produced a ~15% larger storm that intensified more gradually, while changing the coefficient values used in the stability functions had little effect. Varying Pr within the PBL had the greatest impact, with the largest Pr (~1.6 versus ~0.8) associated with more rapid intensification (~38 versus 29 m s−1 per day) but a 5–10 m s−1 weaker intensity after the initial period of strengthening. This seemingly paradoxical result is likely due to a decrease in the radius of maximum wind (~15 versus 20 km), but smaller enthalpy fluxes, in simulated storms with larger Pr. These results underscore the importance of measuring the vertical eddy diffusivities of momentum, heat, and moisture under high-wind, open-ocean conditions to reduce uncertainty in Pr in the TC PBL.


Author(s):  
Da Yang ◽  
Liling Zhu ◽  
Yun Pu

Although traffic flow has attracted a great amount of attention in past decades, few of the studies focused on heterogeneous traffic flow consisting of different types of drivers or vehicles. This paper attempts to investigate the model and stability analysis of the heterogeneous traffic flow, including drivers with different characteristics. The two critical characteristics of drivers, sensitivity and cautiousness, are taken into account, which produce four types of drivers: the sensitive and cautious driver (S-C), the sensitive and incautious driver (S-IC), the insensitive and cautious driver (IS-C), and the insensitive and incautious driver (IS-IC). The homogeneous optimal velocity car-following model is developed into a heterogeneous form to describe the heterogeneous traffic flow, including the four types of drivers. The stability criterion of the heterogeneous traffic flow is derived, which shows that the proportions of the four types of drivers and their stability functions only relating to model parameters are two critical factors to affect the stability. Numerical simulations are also conducted to verify the derived stability condition and further explore the influences of the driver characteristics on the heterogeneous traffic flow. The simulations reveal that the IS-IC drivers are always the most unstable drivers, the S-C drivers are always the most stable drivers, and the stability effects of the IS-C and the S-IC drivers depend on the stationary velocity. The simulations also indicate that a wider extent of the driver heterogeneity can attenuate the traffic wave.


1980 ◽  
Vol 47 (4) ◽  
pp. 871-874 ◽  
Author(s):  
J. R. Barber ◽  
J. Dundurs ◽  
M. Comninou

A simple one-dimensional model is described in which thermoelastic contact conditions give rise to nonuniqueness of solution. The stability of the various steady-state solutions discovered is investigated using a perturbation method. The results can be expressed in terms of the minimization of a certain energy function, but the authors have so far been unable to justify the use of such a function from first principles in view of the nonconservative nature of the system.


2005 ◽  
Vol 15 (01n02) ◽  
pp. 129-135 ◽  
Author(s):  
MITSUO YOSHIDA ◽  
YASUAKI KUROE ◽  
TAKEHIRO MORI

Recently models of neural networks that can directly deal with complex numbers, complex-valued neural networks, have been proposed and several studies on their abilities of information processing have been done. Furthermore models of neural networks that can deal with quaternion numbers, which is the extension of complex numbers, have also been proposed. However they are all multilayer quaternion neural networks. This paper proposes models of fully connected recurrent quaternion neural networks, Hopfield-type quaternion neural networks. Since quaternion numbers are non-commutative on multiplication, some different models can be considered. We investigate dynamics of these proposed models from the point of view of the existence of an energy function and derive their conditions for existence.


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