Related papers: A Pinned Polymer Model of Posture Control
Bio-inspired sensorimotor control systems may be appealing to roboticists who try to solve problems of multiDOF humanoids and human-robot interactions. This paper presents a simple posture control concept from neuroscience, called…
The work presented in this report introduces a framework aimed towards learning to imitate human gaits. Humans exhibit movements like walking, running, and jumping in the most efficient manner, which served as the source of motivation for…
As technologies and interfaces for the instrumental control of musical sound get ever better at tracking aspects of human position and motion in space, a fundamental problem emerges: Unintended or even counter-intentional control may result…
The problem of a spatially correlated noise affecting a complex system is studied in this paper. We present a comprehensive analysis of a 2D model polymer chain, driven by the spatially correlated Gaussian noise, for which we have varied…
Control of compliant mechanical systems is increasingly being researched for several applications including flexible link robots and ultra-precision positioning systems. The control problem in these systems is challenging, especially with…
A new hybrid tracking controller for neuromuscular electrical stimulation is proposed. The control scheme uses sampled measurements and is designed by utilizing a numerical prediction of the state variables. The tracking error of the…
We provide deterministic controllability conditions that imply exponential mixing properties for randomly forced constrained dynamical systems with possibly unbounded state space. As an application, new ergodicity results are obtained for…
In this paper we investigate the dynamical behavior of an interface or polymer, in interaction with a distant attractive substrate. The interface is modeled by the graph of a nearest neighbor path with non-negative integer coordinates, and…
We study the rotational dynamics of a flexible polymer initially wrapped around a rigid rod and unwinding from it. This dynamics is of interest in several problems in biology and constitutes a fundamental instance of polymer relaxation from…
Control of stochastic systems is a challenging open problem in statistical physics, with potential applications in a wealth of systems from biology to granulates. Unlike most cases investigated so far, we aim here at controlling a genuinely…
Control systems are usually modeled by differential equations describing how physical phenomena can be influenced by certain control parameters or inputs. Although these models are very powerful when dealing with physical phenomena, they…
In order to increase the efficiency of the computer simulation of biological molecules, it is very common to impose holonomic constraints on the fastest degrees of freedom; normally bond lengths, but also possibly bond angles. However, as…
This article contributes to the search for a notion of postural style, focusing on the issue of classifying subjects in terms of how they maintain posture. Longer term, the hope is to make it possible to determine on a case by case basis…
Injection moulding is a well-established automated process for manufacturing a wide variety of plastic components in large volumes and with high precision. There are, however, process control challenges associated with each stage of…
Intermittent control has a long history in the physiological literature and there is strong experimental evidence that some human control systems are intermittent. Intermittent control has also appeared in various forms in the engineering…
The conformational properties of flexible and semiflexible polymers exposed to active noise are studied theoretically. The noise may originate from the interaction of the polymer with surround- ing active (Brownian) particles or from the…
We propose an adaptive model-predictive controller that balances driving the system to a goal state and seeking system observations that are informative with respect to the parameters of a nonlinear autoregressive exogenous model. The…
It has been established that the entangled polymer dynamics can be reasonably described by single chain models such as tube and slip-link models. Although the entanglement effect is a result of the hard-core interaction between chains,…
The purpose of the present experiment was to investigate whether the sensory weighting of a plantar pressure-based, tongue-placed tactile biofeedback for controlling posture could be subject to inter-individual variability. To achieve this…
We study dynamics of the inverted pendulum on the wheel on a soft surface and under a proportional-integral-derivative controller. The behaviour of such pendulum is modelled by a system with a differential inclusion. If the the system has a…