Object transportation by multiple mobile robots controlled by attractor dynamics: theory and implementation

Dynamical systems theory is used as a theoretical language and tool to design a distributed control architecture for teams of mobile robots, that must transport a large object and simultaneously avoid collisions with (either static or dynamic) obstacles. Here we demonstrate in simulations and implementations in real robots that it is possible to simplify the architectures presented in previous work and to extend the approach to teams of n robots. The robots have no prior knowledge of the environment. The motion of each robot is controlled by a time series of asymptotical stable states. The attractor dynamics permits the integration of information from various sources in a graded manner. As a result, the robots show a strikingly smooth an stable team behaviour.

Using attractor dynamics to generate decentralized motion control of two mobile robots transporting a long object in coordination

Dynamical systems theory is used here as a theoretical language and tool to design a distributed control architecture for a team of two mobile robots that must transport a long object and simultaneously avoid obstacles. In this approach the level of modeling is at the level of behaviors. A “dynamics” of behavior is defined over a state space of behavioral variables (heading direction and path velocity). The environment is also modeled in these terms by representing task constraints as attractors (i.e. asymptotically stable states) or reppelers (i.e. unstable states) of behavioral dynamics. For each robot attractors and repellers are combined into a vector field that governs the behavior. The resulting dynamical systems that generate the behavior of the robots may be nonlinear. By design the systems are tuned so that the behavioral variables are always very close to one attractor. Thus the behavior of each robot is controled by a time series of asymptotically stable states. Computer simulations support the validity of our dynamic model architectures.

The potential field method and the nonlinear attractor dynamics approach: what are the differences?

One of the most popular approaches to path planning and control is the potential field method. This method is particularly attractive because it is suitable for on-line feedback control. In this approach the gradient of a potential field is used to generate the robot's trajectory. Thus, the path is generated by the transient solutions of a dynamical system. On the other hand, in the nonlinear attractor dynamic approach the path is generated by a sequence of attractor solutions. This way the transient solutions of the potential field method are replaced by a sequence of attractor solutions (i.e., asymptotically stable states) of a dynamical system. We discuss at a theoretical level some of the main differences of these two approaches.

Bistable attractor dynamics in neuromorphic aVLSI chips

Magdeburg, Univ., Fak. für Elektrotechnik und Informationstechnik, Diss., 2014

Estimating Attractor Dimension on the Nonlinear Pendulum Time Series

Chaotic dynamical systems exhibit trajectories in their phase space that converges to a strange attractor. The strangeness of the chaotic attractor is associated with its dimension in which instance it is described by a noninteger dimension. This contribution presents an overview of the main definitions of dimension discussing their evaluation from time series employing the correlation and the generalized dimension. The investigation is applied to the nonlinear pendulum where signals are generated by numerical integration of the mathematical model, selecting a single variable of the system as a time series. In order to simulate experimental data sets, a random noise is introduced in the time series. State space reconstruction and the determination of attractor dimensions are carried out regarding periodic and chaotic signals. Results obtained from time series analyses are compared with a reference value obtained from the analysis of mathematical model, estimating noise sensitivity. This procedure allows one to identify the best techniques to be applied in the analysis of experimental data.

A non-autonomous strongly damped wave equation: Existence and continuity of the pullback attractor

In this paper we consider the strongly damped wave equation with time-dependent terms u(tt) - Delta u - gamma(t)Delta u(t) + beta(epsilon)(t)u(t) = f(u), in a bounded domain Omega subset of R(n), under some restrictions on beta(epsilon)(t), gamma(t) and growth restrictions on the nonlinear term f. The function beta(epsilon)(t) depends on a parameter epsilon, beta(epsilon)(t) -> 0. We will prove, under suitable assumptions, local and global well-posedness (using the uniform sectorial operators theory), the existence and regularity of pullback attractors {A(epsilon)(t) : t is an element of R}, uniform bounds for these pullback attractors, characterization of these pullback attractors and their upper and lower semicontinuity at epsilon = 0. (C) 2010 Elsevier Ltd. All rights reserved.

Global attractor for a model of extensible beam with nonlinear damping and source terms

This paper is concerned with the existence of a global attractor for the nonlinear beam equation, with nonlinear damping and source terms, u(tt) + Delta(2)u -M (integral(Omega)vertical bar del u vertical bar(2)dx) Delta u + f(u) + g(u(t)) = h in Omega x R(+), where Omega is a bounded domain of R(N), M is a nonnegative real function and h is an element of L(2)(Omega). The nonlinearities f(u) and g(u(t)) are essentially vertical bar u vertical bar(rho) u - vertical bar u vertical bar(sigma) u and vertical bar u(t)vertical bar(r) u(t) respectively, with rho, sigma, r > 0 and sigma < rho. This kind of problem models vibrations of extensible beams and plates. (C) 2010 Elsevier Ltd. All rights reserved.

Regularity of solutions on the global attractor for a semilinear damped wave equation

We consider attractors A(eta), eta epsilon [0, 1], corresponding to a singularly perturbed damped wave equation u(tt) + 2 eta A(1/2)u(t) + au(t) + Au = f (u) in H-0(1)(Omega) x L-2 (Omega), where Omega is a bounded smooth domain in R-3. For dissipative nonlinearity f epsilon C-2(R, R) satisfying vertical bar f ``(s)vertical bar <= c(1 + vertical bar s vertical bar) with some c > 0, we prove that the family of attractors {A(eta), eta >= 0} is upper semicontinuous at eta = 0 in H1+s (Omega) x H-s (Omega) for any s epsilon (0, 1). For dissipative f epsilon C-3 (R, R) satisfying lim(vertical bar s vertical bar) (->) (infinity) f ``(s)/s = 0 we prove that the attractor A(0) for the damped wave equation u(tt) + au(t) + Au = f (u) (case eta = 0) is bounded in H-4(Omega) x H-3(Omega) and thus is compact in the Holder spaces C2+mu ((Omega) over bar) x C1+mu((Omega) over bar) for every mu epsilon (0, 1/2). As a consequence of the uniform bounds we obtain that the family of attractors {A(eta), eta epsilon [0, 1]} is upper and lower semicontinuous in C2+mu ((Omega) over bar) x C1+mu ((Omega) over bar) for every mu epsilon (0, 1/2). (c) 2007 Elsevier Inc. All rights reserved.

UNIFORM DISSIPATIVENESS, ROBUST SYNCHRONIZATION AND LOCATION OF THE ATTRACTOR OF PARAMETRIZED NONAUTONOMOUS DISCRETE SYSTEMS

In this series of papers, we study issues related to the synchronization of two coupled chaotic discrete systems arising from secured communication. The first part deals with uniform dissipativeness with respect to parameter variation via the Liapunov direct method. We obtain uniform estimates of the global attractor for a general discrete nonautonomous system, that yields a uniform invariance principle in the autonomous case. The Liapunov function is allowed to have positive derivative along solutions of the system inside a bounded set, and this reduces substantially the difficulty of constructing a Liapunov function for a given system. In particular, we develop an approach that incorporates the classical Lagrange multiplier into the Liapunov function method to naturally extend those Liapunov functions from continuous dynamical system to their discretizations, so that the corresponding uniform dispativeness results are valid when the step size of the discretization is small. Applications to the discretized Lorenz system and the discretization of a time-periodic chaotic system are given to illustrate the general results. We also show how to obtain uniform estimation of attractors for parametrized linear stable systems with nonlinear perturbation.

FAST, PARALLEL AND SECURE CRYPTOGRAPHY ALGORITHM USING LORENZ`S ATTRACTOR

A novel cryptography method based on the Lorenz`s attractor chaotic system is presented. The proposed algorithm is secure and fast, making it practical for general use. We introduce the chaotic operation mode, which provides an interaction among the password, message and a chaotic system. It ensures that the algorithm yields a secure codification, even if the nature of the chaotic system is known. The algorithm has been implemented in two versions: one sequential and slow and the other, parallel and fast. Our algorithm assures the integrity of the ciphertext (we know if it has been altered, which is not assured by traditional algorithms) and consequently its authenticity. Numerical experiments are presented, discussed and show the behavior of the method in terms of security and performance. The fast version of the algorithm has a performance comparable to AES, a popular cryptography program used commercially nowadays, but it is more secure, which makes it immediately suitable for general purpose cryptography applications. An internet page has been set up, which enables the readers to test the algorithm and also to try to break into the cipher.

A Mismatch-Based Model for Memory Reconsolidation and Extinction in Attractor Networks

OSAN, R. , TORT, A. B. L. , AMARAL, O. B. . A mismatch-based model for memory reconsolidation and extinction in attractor networks. Plos One, v. 6, p. e23113, 2011.

Dissipative three-wave structures in stimulated backscattering. I. A subluminous solitary attractor

We present a solitary solution of the three-wave nonlinear partial differential equation (PDE) model - governing resonant space-time stimulated Brillouin or Raman backscattering - in the presence of a cw pump and dissipative material and Stokes waves. The study is motivated by pulse formation in optical fiber experiments. As a result of the instability any initial bounded Stokes signal is amplified and evolves to a subluminous backscattered Stokes pulse whose shape and velocity are uniquely determined by the damping coefficients and the cw-pump level. This asymptotically stable solitary three-wave structure is an attractor for any initial conditions in a compact support, in contrast to the known superluminous dissipative soliton solution which calls for an unbounded support. The linear asymptotic theory based on the Kolmogorov-Petrovskii-Piskunov assertion allows us to determine analytically the wave-front slope and the subluminous velocity, which are in remarkable agreement with the numerical computation of the nonlinear PDE model when the dynamics attains the asymptotic steady regime. © 1997 The American Physical Society.

Some remarks on the attractor behaviour in ELKO cosmology

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

UV Radiation as an Attractor for Insects

Light pollution due to exterior lighting is a rising concern. While glare, light trespass and general light pollution have been well described, there are few reported studies on the impact of light pollution on insects. By studying insect behavior in relation to artificial lighting, we suggest that control of the UV component of artificial lighting can significantly reduce its attractiveness, offering a strong ability to control the impact on insects. Traditionally, the attractiveness of a lamp to insects is calculated using the luminous efficiency spectrum of insect rhodopsin. This has enabled the development of lamps that emit radiation with wavelengths that are less visible to insects (that is, yellow lamps). We tested the assumption that the degree of visibility of a lamp to insects can predict its attractiveness by means of experimental collections. We found that the expected lamp's visibility is indeed related to the extent to which it attracts insects. However, the number of insects attracted to a lamp is disproportionally affected by the emission of ultraviolet radiation. UV triggers the behavior of approaching lights more or less independently of the amount of UV radiation emitted. Thus, even small amounts of UV should be controlled in order to develop bug-free lamps.

Strange attractor in optical logic cells

Optical logic cells, employed in several tasks as optical computing or optically controlled switches for photonic switching, offer a very particular behavior when the working conditions are slightly modified. One of the more striking changes occurs when some delayed feedback is applied between one of the possible output gates and a control input. Some of these new phenomena have been studied by us and reported in previous papers. A chaotic behavior is one of the more characteristic results and its possible applications range from communications to cryptography. But the main problem related with this behavior is the binary character of the resulting signal. Most of the nowadays-employed techniques to analyze chaotic signals concern to analogue signals where algebraic equations are possible to obtain. There are no specific tools to study digital chaotic signals. Some methods have been proposed. One of the more used is equivalent to the phase diagram in analogue chaos. The binary signal is converted to hexadecimal and then analyzed. We represented the fractal characteristics of the signal. It has the characteristics of a strange attractor and gives more information than the obtained from previous methods. A phase diagram, as the one obtained by previous techniques, may fully cover its surface with the trajectories and almost no information may be obtained from it. Now, this new method offers the evolution around just a certain area being this lines the strange attractor.