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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 ...
In the first part of these notes, we deal with first order Hamiltonian systems in the form Ju'(t) = del H(u(t)) where the phase space X may be in infinite dimensional so as to accommodate some partial differential equations. The Hamiltonian H is an element ...
Coarse graining techniques offer a promising alternative to large-scale simulations of complex dynamical systems, as long as the coarse-grained system is truly representative of the initial one. Here, we investigate how the dynamical properties of oscillat ...
The control of cranes and nonholonomic robots has gained increased interest mainly because of the civilian and military industrial need to achieve fast and accurate transport of goods and equipment. Old and new harbors are now venturing into fully automate ...
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 ...
We consider networks of FIFO aggregate schedulers. Quite surprisingly, the natural condition (node utilization inferior to one) in general is not sufficient in these networks to ensure stability (boundedness of delay and backlog at each node). Deriving goo ...
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 ...
We consider networks of FIFO aggregate schedulers. Quite surprisingly, the natural condition (node utilization inferior to one) in general is not sufficient in these networks to ensure stability (boundedness of delay and backlog at each node). Deriving goo ...
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Background The ambition of most molecular biologists is the understanding of the intricate network of molecular interactions that control biological systems. As scientists uncover the components and the connectivity of these networks, it becomes possible t ...
In this paper we consider a class of hybrid stochastic games with the piecewise open-loop information structure. These games are indexed over a parameter ε which represents the time scale ratio between the stochastic (jump process) and the dete ...
Society for Industrial and Applied Mathematics2008