Analysing nystagmus waveforms: a computational framework

We present a new computational approach to analyse nystagmus waveforms. Our framework is designed to fully characterise the state of the nystagmus, aid clinical diagnosis and to quantify the dynamical changes in the oscillations over time. Both linear and nonlinear analyses of time series were used to determine the regularity and complexity of a specific homogenous phenotype of nystagmus. Two-dimensional binocular eye movement recordings were carried out on 5 adult subjects who exhibited a unilateral, uniplanar, vertical nystagmus secondary to a monocular late-onset severe visual loss in the oscillating eye (the Heimann-Bielschowsky Phenomenon). The non-affected eye held a central gaze in both horizontal and vertical planes (± 10 min. of arc). All affected eyes exhibited vertical oscillations, with mean amplitudes and frequencies ranging from 2.0°–4.0° to 0.25–1.5 Hz, respectively. Unstable periodic orbit analysis revealed only 1 subject exhibited a periodic oscillation. The remaining subjects were found to display quasiperiodic (n = 1) and nonperiodic (n = 3) oscillations. Phase space reconstruction allowed attractor identification and the computation of a time series complexity measure—the permutation entropy. The entropy measure was found to be able to distinguish between a periodic oscillation associated with a limit cycle attractor, a quasiperiodic oscillation associated with a torus attractor and nonperiodic oscillations associated with higher-dimensional attractors. Importantly, the permutation entropy was able to rank the oscillations, thereby providing an objective index of nystagmus complexity (range 0.15–0.21) that could not be obtained via unstable periodic orbit analysis or attractor identification alone. These results suggest that our framework provides a comprehensive methodology for characterising nystagmus, aiding differential diagnosis and also permitting investigation of the waveforms over time, thereby facilitating the quantification of future therapeutic managements. In addition, permutation entropy could provide an additional tool for future oculomotor modelling.

Equilibria and orbits in the dynamical environment of asteroid 22 Kalliope

This paper studies the orbital dynamics of the potential of asteroid 22 Kalliope using observational data of the irregular shape. The zero-velocity surface are calculated and showed with different Jacobian values. All five equilibrium points are found, four of them are outside and unstable, and the other one is inside and linearly stable. The movement and bifurcations of equilibrium points during the variety of rotation speed and density of the body are investigated. The Hopf bifurcations occurs during the variety of rotational speed from ω=1.0ω0 to 0.5ω0, and the Saddle-Node bifurcation occurs during the variety of rotational speed from ω=1.0ω0 to 2.0ω0. Both unstable and stable resonant periodic orbits around Kalliope are coexisting. The perturbation of an unstable periodic orbit shows that the gravitational field of Kalliope is strongly perturbed.

INTERMITTENCY AND INTERIOR CRISIS AS ROUTE TO CHAOS IN DYNAMIC WALKING OF TWO BIPED ROBOTS

Recently, passive and semi-passive dynamic walking has been noticed in researches of biped walking robots. Such biped robots are well-known that they demonstrate only a period-doubling route to chaos while walking down sloped surfaces. In previous researches, such route was shown with respect to a continuous change in some parameter of the biped robot. In this paper, two biped robots are introduced: the passive compass-gait biped robot and the semi-passive torso-driven biped robot. The period-doubling scenario route to chaos is revisited for the first biped as the ground slope changes. Furthermore, we will show through bifurcation diagram that the torso-driven biped exhibits also such route to chaos when the slope angle is varied. For such biped, a modified semi-passive control law is introduced in order to stabilize the torso at some desired position. In this work, we will show through bifurcation diagrams that the dynamic walking of the two biped robots reveals two other routes to chaos namely the intermittency route and the interior crisis route. We will stress that the intermittency is generated via a saddle-node bifurcation where an unstable periodic orbit is created. We will highlight that such event takes place for a Type-I intermittency. However, we will emphasize that the interior crisis event occurs when a collision of the unstable periodic orbit with a weak chaotic attractor happens giving rise to a strong chaotic attractor. In addition, we will explore the intermittent step series induced by the interior crisis and also by the Type-I intermittency. In this study, our analysis on chaos and the routes to chaos will be based, beside bifurcation diagrams, on Lyapunov exponents and fractal (Lyapunov) dimension. These two tools are plotted in the parameter space to classify attractors observed in bifurcation diagrams.

THE STRUCTURE AND EVOLUTION OF CONFINED TORI NEAR A HAMILTONIAN HOPF BIFURCATION

We study the orbital behavior at the neighborhood of complex unstable periodic orbits in a 3D autonomous Hamiltonian system of galactic type. At a transition of a family of periodic orbits from stability to complex instability (also known as Hamiltonian Hopf Bifurcation) the four eigenvalues of the stable periodic orbits move out of the unit circle. Then the periodic orbits become complex unstable. In this paper, we first integrate initial conditions close to the ones of a complex unstable periodic orbit, which is close to the transition point. Then, we plot the consequents of the corresponding orbit in a 4D surface of section. To visualize this surface of section we use the method of color and rotation [Patsis & Zachilas, 1994]. We find that the consequents are contained in 2D "confined tori". Then, we investigate the structure of the phase space in the neighborhood of complex unstable periodic orbits, which are further away from the transition point. In these cases we observe clouds of points in the 4D surfaces of section. The transition between the two types of orbital behavior is abrupt.

CHAINS OF ROTATIONAL TORI AND FILAMENTARY STRUCTURES CLOSE TO HIGH MULTIPLICITY PERIODIC ORBITS IN A 3D GALACTIC POTENTIAL

This paper discusses phase space structures encountered in the neighborhood of periodic orbits with high order multiplicity in a 3D autonomous Hamiltonian system with a potential of galactic type. We consider 4D spaces of section and we use the method of color and rotation [Patsis & Zachilas, 1994] in order to visualize them. As examples, we use the case of two orbits, one 2-periodic and one 7-periodic. We investigate the structure of multiple tori around them in the 4D surface of section and in addition, we study the orbital behavior in the neighborhood of the corresponding simple unstable periodic orbits. By considering initially a few consequents in the neighborhood of the orbits in both cases we find a structure in the space of section, which is in direct correspondence with what is observed in a resonance zone of a 2D autonomous Hamiltonian system. However, in our 3D case we have instead of stability islands rotational tori, while the chaotic zone connecting the points of the unstable periodic orbit is replaced by filaments extending in 4D following a smooth color variation. For more intersections, the consequents of the orbit which started in the neighborhood of the unstable periodic orbit, diffuse in phase space and form a cloud that occupies a large volume surrounding the region containing the rotational tori. In this cloud the colors of the points are mixed. The same structures have been observed in the neighborhood of all m-periodic orbits we have examined in the system. This indicates a generic behavior.

Coupled Feedback Control of Chaos in the Qi System

The complex dynamics behavior of the four-dimensional Qi system is studied. The route to chaos of the system is studied by the time course diagram, phase portraits and Poincaré maps. We use a Coupled feedback strategy to control the chaotic motion towards regular motion. Numerical simulation shows the effectiveness and feasibility of the strategy to get rid of chaos by stabilizing the related unstable periodic orbit. This control method can be applied to other chaotic systems.