Controlling roll perturbations in fruit flies.

Owing to aerodynamic instabilities, stable flapping flight requires ever-present fast corrective actions. Here, we investigate how flies control perturbations along their body roll angle, which is unstable and their most sensitive degree of freedom. We glue a magnet to each fly and apply a short magnetic pulse that rolls it in mid-air. Fast video shows flies correct perturbations up to 100° within 30 ± 7 ms by applying a stroke-amplitude asymmetry that is well described by a linear proportional-integral controller. For more aggressive perturbations, we show evidence for nonlinear and hierarchical control mechanisms. Flies respond to roll perturbations within 5 ms, making this correction reflex one of the fastest in the animal kingdom.

Finding the dimension of slow dynamics in a rhythmic system.

Dynamical systems with asymptotically stable periodic orbits are generic models for rhythmic processes in dissipative physical systems. This paper presents a method for reconstructing the dynamics near a periodic orbit from multivariate time-series data. It is used to test theories about the control of legged locomotion, a context in which time series are short when compared with previous work in nonlinear time-series analysis. The method presented here identifies appropriate dimensions of reduced order models for the deterministic portion of the dynamics. The paper also addresses challenges inherent in identifying dynamical models with data from different individuals.

Lateral stability of the spring-mass hopper suggests a two-step control strategy for running.

This paper investigates the control of running gaits in the context of a spring loaded inverted pendulum model in three dimensions. Specifically, it determines the minimal number of steps required for an animal to recover from a perturbation to a specified gait. The model has four control inputs per step: two touchdown angles (azimuth and elevation) and two spring constants (compression and decompression). By representing the locomotor movement as a discrete-time return map and using the implicit function theorem we show that the number of recovery steps needed following a perturbation depends upon the goals of the control mechanism. When the goal is to follow a straight line, two steps are necessary and sufficient for small lateral perturbations. Multistep control laws have a larger number of control inputs than outputs, so solutions of the control problem are not unique. Additional constraints, referred to here as synergies, are imposed to determine unique control inputs for perturbations. For some choices of synergies, two-step control can be expressed as two iterations of its first step policy and designed so that recovery occurs in just one step for all perturbations for which one-step recovery is possible.

Estimating the phase of synchronized oscillators.

The state of a collection of phase-locked oscillators is determined by a single phase variable or cyclic coordinate. This paper presents a computational method, Phaser, for estimating the phase of phase-locked oscillators from limited amounts of multivariate data in the presence of noise and measurement errors. Measurements are assumed to be a collection of multidimensional time series. Each series consists of several cycles of the same or similar systems. The oscillators within each system are not assumed to be identical. Using measurements of the noise covariance for the multivariate input, data from the individual oscillators in the system are combined to reduce the variance of phase estimates for the whole system. The efficacy of the algorithm is demonstrated on experimental and model data from biomechanics of cockroach running and on simulated oscillators with varying levels of noise.

Estimating effective degrees of freedom in motor systems.

Studies of the degrees of freedom and "synergies" in musculoskeletal systems rely critically on algorithms to estimate the "dimension" of kinematic or neural data. Linear algorithms such as principal component analysis (PCA) are the most popular. However, many biological data (or realistic experimental data) may be better represented by nonlinear sets than linear subspaces. We evaluate the performance of PCA and compare it to two nonlinear algorithms [Isomap and our novel pointwise dimension estimation (PD-E)] using synthetic and motion capture data from a robotic arm with known kinematic dimensions, as well as motion capture data from human hands. We find that PCA can lead to more accurate dimension estimates when considering additional properties of the PCA residuals, instead of the dominant method of using a threshold of variance captured. In contrast to the single integer dimension estimates of PCA and Isomap, PD-E provides a distribution and range of estimates of fractal dimension that identify the heterogeneous geometric structure in the experimental data. A strength of the PD-E method is that it associates a distribution of dimensions to the data. Since there is no a priori reason to assume that the sets of interest have a single dimension, these distributions incorporate more information than a single summary statistic. Our preliminary findings suggest that fewer than ten DOFs are involved in some hand motion tasks. Contrary to common opinion regarding fractal dimension methods, PD-E yielded reasonable results with reasonable amounts of data. Given the complex nature of experimental and biological data, we conclude that it is necessary and feasible to complement PCA with methods that take into consideration the nonlinear properties of biological systems for a more robust estimation of their DOFs.

The invariant constrained equilibrium edge preimage curve method for the dimension reduction of chemical kinetics.

This work addresses the construction and use of low-dimensional invariant manifolds to simplify complex chemical kinetics. Typically, chemical kinetic systems have a wide range of time scales. As a consequence, reaction trajectories rapidly approach a hierarchy of attracting manifolds of decreasing dimension in the full composition space. In previous research, several different methods have been proposed to identify these low-dimensional attracting manifolds. Here we propose a new method based on an invariant constrained equilibrium edge (ICE) manifold. This manifold (of dimension nr) is generated by the reaction trajectories emanating from its (nr-1)-dimensional edge, on which the composition is in a constrained equilibrium state. A reasonable choice of the nr represented variables (e.g., nr "major" species) ensures that there exists a unique point on the ICE manifold corresponding to each realizable value of the represented variables. The process of identifying this point is referred to as species reconstruction. A second contribution of this work is a local method of species reconstruction, called ICE-PIC, which is based on the ICE manifold and uses preimage curves (PICs). The ICE-PIC method is local in the sense that species reconstruction can be performed without generating the whole of the manifold (or a significant portion thereof). The ICE-PIC method is the first approach that locally determines points on a low-dimensional invariant manifold, and its application to high-dimensional chemical systems is straightforward. The "inputs" to the method are the detailed kinetic mechanism and the chosen reduced representation (e.g., some major species). The ICE-PIC method is illustrated and demonstrated using an idealized H2O system with six chemical species. It is then tested and compared to three other dimension-reduction methods for the test case of a one-dimensional premixed laminar flame of stoichiometric hydrogen/air, which is described by a detailed mechanism containing nine species and 21 reactions. It is shown that the error incurred by the ICE-PIC method with four represented species is small across the whole flame, even in the low temperature region.