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In this thesis, we present a dynamical systems approach to adaptive controllers for locomotion control. The approach is based on a rigorous mathematical framework using nonlinear dynamical systems and is inspired by theories of self-organization. Nonlinear ...
The steady states of the Fenton–Karma, the Courtemanche and the Nygren cell models were studied by determining the fixed points of the dynamical system describing their cell kinetics. The linear stability of the fixed points was investigated, as well as th ...
Nonlinear oscillators are widely used in biology, physics and engineering for modeling and control. They are interesting because of their synchronization properties when coupled to other dynamical systems. In this paper, we propose a learning rule for osci ...
The system code RAMONA, as well as a recently developed BWR reduced order model (ROM), are employed for the stability analysis of a specific operational point of the Leibstadt nuclear power plant. This has been done in order to assess the ROM's applicabili ...
The first part of this thesis studies the problem of symmetry breaking in the context of simple mechanical systems with compact symmetry Lie group G. In this part we shall assume that the principal stratum of the G-action on the configuration space Q of a ...
The control of the current, position and shape of an elongated cross-section tokamak plasma is complicated by the instability of the plasma vertical position. In this case the control becomes a significant problem when saturation of the power supplies is c ...
This paper provides a global picture of the bifurcation scenario of the Hindmarsh-Rose model. A combination between simulations and numerical continuations is used to unfold the complex bifurcation structure. The bifurcation analysis is carried out by vary ...
In this paper we combine kinesthetic demonstrations and dynamical systems to enable a humanoid robot to imitate constrained reaching gestures directed toward a target. Using a learning algorithm based on Gaussian Mixture Regression, the task constraints ar ...
Locomotion on an irregular surface is a challenging task in robotics. Among different problems to solve to obtain robust locomotion, visually guided locomotion and accurate foot placement are of crucial importance. Robust controllers able to adapt to senso ...
The online generation of trajectories in humanoid robots remains a difficult problem. In this contribution, we present a system that allows the superposition, and the switch between, discrete and rhythmic movements. Our approach uses nonlinear dynamical sy ...
