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.

Detection of molecular interactions with modified ferrocene self-assembled monolayers.

Ferrocene-terminated self-assembled monolayers (Fc-SAMs) are one of the most studied molecular aggregates on metal electrodes. They are easy to fabricate and provide a stable and reproducible system to investigate the effect of the microenvironment on the electron transfer parameters. We propose a novel application for Fc-SAMs, the detection of molecular interactions, based on the modification of the SAM with target-specific receptors. Mixed SAMs were fabricated by coimmobilization on Au electrodes of thiolated alkane chains with three different head groups: hydroxy terminating head group, ferrocene head group, and a functional head group such as biotin. Upon binding, the intrinsic electric charge of the target (e.g., streptavidin) modifies the electrostatic potential at the plane of electron transfer, causing a shift in the formal potential E degrees '. The SAMs were characterized by AC voltammetry. The detection mechanism is confirmed by measurements of formal potential as a function of electrolyte pH.

Chemical nano-gardens: growth of salt nanowires from supramolecular self-assembly gels.

In this article, we examine the phenomenon of single-crystal halide salt wire growth at the surface of porous materials. We report the use of a single-step casting technique with a supramolecular self-assembly gel matrix that upon drying leads to the growth of single-crystal halide (e.g., NaCl, KCl, and KI) nanowires with diameters ~130-200 nm. We demonstrate their formation using electron microscopy and electron-dispersive X-ray spectroscopy, showing that the supramolecular gel stabilizes the growth of these wires by facilitating a diffusion-driven base growth mechanism. Critically, we show that standard non-supramolecular gels are unable to facilitate nanowire growth. We further show that these nanowires can be grown by seeding, forming nanocrystal gardens. This study helps understand the possible prefunctionalization of membranes to stimulate ion-specific filters or salt efflorescence suppressors, while also providing a novel route to nanomaterial growth.

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.

Growth mechanism of graphene on platinum: Surface catalysis and carbon segregation

A model of the graphene growth mechanism of chemical vapor deposition on platinum is proposed and verified by experiments. Surface catalysis and carbon segregation occur, respectively, at high and low temperatures in the process, representing the so-called balance and segregation regimes. Catalysis leads to self-limiting formation of large area monolayer graphene, whereas segregation results in multilayers, which evidently "grow from below." By controlling kinetic factors, dominantly monolayer graphene whose high quality has been confirmed by quantum Hall measurement can be deposited on platinum with hydrogen-rich environment, quench cooling, tiny but continuous methane flow and about 1000°C growth temperature. © 2014 AIP Publishing LLC.