Guided self-organization in a dynamic embodied system based on attractor selection mechanism

Guided self-organization can be regarded as a paradigm proposed to understand how to guide a self-organizing system towards desirable behaviors, while maintaining its non-deterministic dynamics with emergent features. It is, however, not a trivial problem to guide the self-organizing behavior of physically embodied systems like robots, as the behavioral dynamics are results of interactions among their controller, mechanical dynamics of the body, and the environment. This paper presents a guided self-organization approach for dynamic robots based on a coupling between the system mechanical dynamics with an internal control structure known as the attractor selection mechanism. The mechanism enables the robot to gracefully shift between random and deterministic behaviors, represented by a number of attractors, depending on internally generated stochastic perturbation and sensory input. The robot used in this paper is a simulated curved beam hopping robot: a system with a variety of mechanical dynamics which depends on its actuation frequencies. Despite the simplicity of the approach, it will be shown how the approach regulates the probability of the robot to reach a goal through the interplay among the sensory input, the level of inherent stochastic perturbation, i.e., noise, and the mechanical dynamics. © 2014 by the authors; licensee MDPI, Basel, Switzerland.

Paintable band-edge liquid crystal lasers.

In this paper we demonstrate photonic band-edge laser emission from emulsion-based polymer dispersed liquid crystals. The lasing medium consists of dye-doped chiral nematic droplets dispersed within a polymer matrix that spontaneously align as the film dries. Such lasers can be easily formed on single substrates with no alignment layers. The system combines the self-organizing periodic structure of chiral nematic liquid crystals with the simplicity of the emulsion procedure so as to produce a material that retains the emission characteristics of band-edge lasers yet can be readily coated. Sequential and stacked layers demonstrate the possibility of achieving simultaneous multi-wavelength laser output from glass, metallic, and flexible substrates.

Morphological computation of multi-gaited robot locomotion based on free vibration.

In recent years, there has been increasing interest in the study of gait patterns in both animals and robots, because it allows us to systematically investigate the underlying mechanisms of energetics, dexterity, and autonomy of adaptive systems. In particular, for morphological computation research, the control of dynamic legged robots and their gait transitions provides additional insights into the guiding principles from a synthetic viewpoint for the emergence of sensible self-organizing behaviors in more-degrees-of-freedom systems. This article presents a novel approach to the study of gait patterns, which makes use of the intrinsic mechanical dynamics of robotic systems. Each of the robots consists of a U-shaped elastic beam and exploits free vibration to generate different locomotion patterns. We developed a simplified physics model of these robots, and through experiments in simulation and real-world robotic platforms, we show three distinctive mechanisms for generating different gait patterns in these robots.

Learning legged locomotion

Legged locomotion of biological systems can be viewed as a self-organizing process of highly complex system-environment interactions. Walking behavior is, for example, generated from the interactions between many mechanical components (e.g., physical interactions between feet and ground, skeletons and muscle-tendon systems), and distributed informational processes (e.g., sensory information processing, sensory-motor control in central nervous system, and reflexes) [21]. An interesting aspect of legged locomotion study lies in the fact that there are multiple levels of self-organization processes (at the levels of mechanical dynamics, sensory-motor control, and learning). Previously, the self-organization of mechanical dynamics was nicely demonstrated by the so-called Passive Dynamic Walkers (PDWs; [18]). The PDW is a purely mechanical structure consisting of body, thigh, and shank limbs that are connected by passive joints. When placed on a shallow slope, it exhibits natural bipedal walking dynamics by converting potential to kinetic energy without any actuation. An important contribution of these case studies is that, if designed properly, mechanical dynamics can generate a relatively complex locomotion dynamics, on the one hand, and the mechanical dynamics induces self-stability against small disturbances without any explicit control of motors, on the other. The basic principle of the mechanical self-stability appears to be fairly general that there are several different physics models that exhibit similar characteristics in different kinds of behaviors (e.g., hopping, running, and swimming; [2, 4, 9, 16, 19]), and a number of robotic platforms have been developed based on them [1, 8, 13, 22]. © 2009 Springer London.

Modal dynamics of self-excited azimuthal instabilities in an annular combustion chamber

In this paper we describe the time-varying amplitude and its relation to the global heat release rate of self-excited azimuthal instabilities in a simple annular combustor operating under atmospheric conditions. The combustor was modular in construction consisting of either 12, 15 or 18 equally spaced premixed bluff-body flames around a fixed circumference, enabling the effect of large-scale interactions between adjacent flames to be investigated. High-speed OH* chemiluminescence imaged from above the annulus and pressure measurements obtained at multiple locations around the annulus revealed that the limit cycles of the modes are degenerate in so much as they undergo continuous transitions between standing and spinning modes in both clockwise (CW) and anti-clockwise (ACW) directions but with the same resonant frequency. Similar behaviour has been observed in LES simulations which suggests that degenerate modes may be a characteristic feature of self-excited azimuthal instabilities in annular combustion chambers. By modelling the instabilities as two acoustic waves of time-varying amplitude travelling in opposite directions we demonstrate that there is a statistical prevalence for either standing m=1 or spinning m=±1 modes depending on flame spacing, equivalence ratio, and swirl configuration. Phase-averaged OH* chemiluminescence revealed a possible mechanism that drives the direction of the spinning modes under limit-cycle conditions for configurations with uniform swirl. By dividing the annulus into inner and outer annular regions it was found that the spin direction coincided with changes in the spatial distribution of the peak heat release rate relative to the direction of the bulk swirl induced along the annular walls. For standing wave modes it is shown that the globally integrated fluctuations in heat release rate vary in magnitude along the acoustic mode shape with negligible contributions at the pressure nodes and maximum contributions at the pressure anti-nodes. © 2013.