Planar Five-link Biped Robot Movement over a Stepped Surface

Modeling the anthropomorphic robot movement is of great interest to researchers all over the world. At the same time, the movement control of a walking mechanism is always a high dimension challenge. The difficulty with the anthropomorphic robot control is also caused by the fact that such a mechanism has always a hybrid dynamics and represents a sequential change of two phases – the single support phase and the double support phase (phase of changing robot’s leg). At the single support phase and at another phase the behavior of the biped robot is described by a system of ordinary differential equations and by a system of linear algebraic equations, respectively.The task of biped robot movement control has been studied in detail for the case when the robot moves over the horizontal surface. Obstacles make the task significantly complicated. The paper considers the movement control of the biped robot over the surface that is a periodic alternation of horizontal sections and obstacles. The obstacles represent steps of the same height known. It is assumed that the lengths of horizontal sections and steps are known as well. The objective is to create a control that provides robot’s periodic movement over the specified surface according to inherent characteristics of a walking human.For the single support phase, the outputs are proposed, the equality of which to zero corresponds to the robot’s movement with a given set of characteristics. The paper presents the feedback controls that stabilize the proposed outputs for a finite amount of time. By choosing the feedback parameters, it is possible to adjust the stabilization time so that the outputs become equal to zero when reached the end of each step.It is shown that for the chosen control law, the problem of constructing the control of robot’s periodic movement is reduced to the solution of a nonlinear equation. In the paper, we discuss the approaches to solving this equation and present the results of numerical simulation.The results obtained can be used to solve the problem of providing control of the biped robot movement over the surfaces with obstacles of a more complicated shape.Modeling the anthropomorphic robot movement is of great interest to researchers all over the world. At the same time, the movement control of a walking mechanism is always a high dimension challenge. The difficulty with the anthropomorphic robot control is also caused by the fact that such a mechanism has always a hybrid dynamics and represents a sequential change of two phases – the single support phase and the double support phase (phase of changing robot’s leg). At the single support phase and at another phase the behavior of the biped robot is described by a system of ordinary differential equations and by a system of linear algebraic equations, respectively.The task of biped robot movement control has been studied in detail for the case when the robot moves over the horizontal surface. Obstacles make the task significantly complicated. The paper considers the movement control of the biped robot over the surface that is a periodic alternation of horizontal sections and obstacles. The obstacles represent steps of the same height known. It is assumed that the lengths of horizontal sections and steps are known as well. The objective is to create a control that provides robot’s periodic movement over the specified surface according to inherent characteristics of a walking human.For the single support phase, the outputs are proposed, the equality of which to zero corresponds to the robot’s movement with a given set of characteristics. The paper presents the feedback controls that stabilize the proposed outputs for a finite amount of time. By choosing the feedback parameters, it is possible to adjust the stabilization time so that the outputs become equal to zero when reached the end of each step.It is shown that for the chosen control law, the problem of constructing the control of robot’s periodic movement is reduced to the solution of a nonlinear equation. In the paper, we discuss the approaches to solving this equation and present the results of numerical simulation.The results obtained can be used to solve the problem of providing control of the biped robot movement over the surfaces with obstacles of a more complicated shape.

Human Synchronization Maps—The Hybrid Consciousness of the Embodied Mind

We examine the theoretical implications of empirical studies developed over recent years. These experiments have explored the biosemiotic nature of communication streams from emotional neuroscience and embodied mind perspectives. Information combinatorics analysis enabled a deeper understanding of the coupling and decoupling dynamics of biosemiotics streams. We investigated intraindividual and interpersonal relations as coevolution dynamics of hybrid couplings, synchronizations, and desynchronizations. Cluster analysis and Markov chains produced evidence of chimaera states and phase transitions. A probabilistic and nondeterministic approach clarified the properties of these hybrid dynamics. Thus, multidimensional theoretical models can represent the hybrid nature of human interactions.

Genome assembly, annotation, and comparative analysis of the cattail Typha latifolia

Cattails (Typha species) comprise a genus of emergent wetland plants with a global distribution. Typha latifolia and Typha angustifolia are two of the most widespread species, and in areas of sympatry can interbreed to produce the hybrid Typha × glauca. In some regions, the relatively high fitness of Typha × glauca allows it to outcompete and displace both parent species, while simultaneously reducing plant and invertebrate biodiversity, and modifying nutrient and water cycling. We generated a high-quality whole-genome assembly of T. latifolia using PacBio long-read and high coverage Illumina sequences that will facilitate evolutionary and ecological studies in this hybrid zone. Genome size was 287 Mb and consisted of 1158 scaffolds, with an N50 of 8.71 Mb; 43.84% of the genome were identified as repetitive elements. The assembly has a BUSCO score of 96.03%, and 27,432 genes and 2700 RNA sequences were putatively identified. Comparative analysis detected over 9000 shared orthologs with related taxa and phylogenomic analysis supporting T. latifolia as a divergent lineage within Poales. This high-quality scaffold-level reference genome will provide a useful resource for future population genomic analyses and improve our understanding of Typha hybrid dynamics.

Genome assembly, annotation and comparative analysis of the cattail Typha latifolia

ABSTRACTCattails (Typha species) comprise a genus of emergent wetland plants with a global distribution. Typha latifolia and T. angustifolia are two of the most widespread species, and in areas of sympatry can interbreed to produce the hybrid Typha x glauca. In some regions the relatively high fitness of T. x glauca allows it to outcompete and displace both parent species, while simultaneously reducing plant and invertebrate biodiversity, and modifying nutrient and water cycling. We generated a high-quality whole genome assembly of T. latifolia using PacBio long-read and high coverage Illumina sequences that will facilitate evolutionary and ecological studies in this hybrid zone. Genome size was 287 Mb and consisted of 1,189 scaffolds, with an N50 of 8.706 Mb; 43.84% of the genome were identified as repetitive elements. The assembly has a BUSCO score of 96.03%, and 27,432 genes and 2,700 RNA sequences were putatively identified. Comparative analysis detected over 9,000 shared orthologues with related taxa and phylogenomic analysis supporting Typha latifolia as a divergent lineage within Poales. This high-quality scaffold-level reference genome will provide a useful resource for future population genomic analyses and improve our understanding of Typha hybrid dynamics.

Hybrid dynamics of multi-species resource exploitation

In this paper, we analyze a bio-economic model of exploitation of renewable commercial resources. To take into account the typically continuous-time modeling of biological species and, instead, of the specialized harvesting activities, which by its nature cannot change continuously, the resulting dynamic system is of the hybrid type, i.e. continuous for biological variables and discrete for the economic ones. Through a discretization of the continuous variables, the problem is then reformulated by means of a three-dimensional map. Of this map, we study the dynamic properties to understand how economic parameters influence the long-run availability of resources.

Nonholonomic Dynamics of the Twistcar Vehicle: Asymptotic Analysis and Hybrid Dynamics of Frictional Skidding

The Twistcar vehicle is a classic example of a nonholonomic dynamical system. The vehicle model consists of two rigid links connected by an actuated rotary joint and supported by wheeled axles, where nonholonomic constraints are assumed to impose no skidding of the wheels. Recent experimental measurements conducted with a robotic Twistcar prototype have shown disagreements with previous theoretical analyses. In particular, significant skidding has been observed, in addition to discrepancies with respect to theoretical predictions of divergence in oscillations of the vehicle’s speed and orientation, as well as direction reversal depending on the vehicle’s structure. The goal of our research is to resolve this disagreement by generalizing the theoretical analysis. First, we extend previous asymptotic analysis by incorporating the effects of links’ inertia and oscillation amplitude of the input angle on the direction of net motion. Next, we formulate the vehicle’s hybrid dynamics under frictional bounds and skid-state transitions. Using numerical analysis, we obtain optimal values for the vehicle’s mean speed and energetic cost-of-transport as a function of the input frequency. Our results improve the agreement between theory and experiments and suggest directions for further experimental investigation.

Microrheology reveals simultaneous cell-mediated matrix stiffening and fluidization that underlie breast cancer invasion

Living tissues embody a unique class of hybrid materials in which active and thermal forces are inextricably linked. Mechanical characterization of tissues demands descriptors that respect this hybrid nature. In this work, we develop a microrheology-based force spectrum analysis (FSA) technique to dissect the active and passive fluctuations of the extracellular matrix (ECM) in three-dimensional (3D) cell culture models. In two different stromal models and a 3D breast cancer spheroid model, our FSA reveals emergent hybrid dynamics that involve both high-frequency stress stiffening and low-frequency fluidization of the ECM. We show that this is a general consequence of nonlinear coupling between active forces and the frequency-dependent viscoelasticity of stress-stiffening networks. In 3D breast cancer spheroids, this dual active stiffening and fluidization is tightly connected with invasion. Our results suggest a mechanism whereby breast cancer cells reconcile the seemingly contradictory requirements for both tension and malleability in the ECM during invasion.

How Dynamical Quantum Memories Forget

Motivated by recent work showing that a quantum error correcting code can be generated by hybrid dynamics of unitaries and measurements, we study the long time behavior of such systems. We demonstrate that even in the ``mixed'' phase, a maximally mixed initial density matrix is purified on a time scale equal to the Hilbert space dimension (i.e., exponential in system size), albeit with noisy dynamics at intermediate times which we connect to Dyson Brownian motion. In contrast, we show that free fermion systems — i.e., ones where the unitaries are generated by quadratic Hamiltonians and the measurements are of fermion bilinears — purify in a time quadratic in the system size. In particular, a volume law phase for the entanglement entropy cannot be sustained in a free fermion system.