Extensive growth of the soft robotics field has made possible the application of soft mobile robots for real world tasks such as search and rescue missions. Soft robots provide safer interactions with humans when compared to traditional rigid robots. Additionally, soft robots often contain more degrees of freedom than rigid ones, which can be beneficial for applications where increased mobility is needed. However, the limited number of studies for the autonomous navigation of soft robots currently restricts their application for missions such as search and rescue. This paper presents a path following technique for a compliant origami crawling robot. The path following control adapts the well-known pure pursuit method to account for the geometric and mobility constraints of the robot. The robot motion is described by a kinematic model that transforms the outputs of the pure pursuit into the servo input rotations for the robot. This model consists of two integrated sub-models: a lumped kinematic model and a segmented kinematic model. The performance of the path following approach is demonstrated for a straight-line following simulation with initial offset. Finally, a feedback controller is designed to account for terrain or mission uncertainties.
{"title":"Path Following for the Soft Origami Crawling Robot","authors":"O. Angatkina, K. Gustafson, A. Wissa, A. Alleyne","doi":"10.1115/dscc2019-9175","DOIUrl":"https://doi.org/10.1115/dscc2019-9175","url":null,"abstract":"Extensive growth of the soft robotics field has made possible the application of soft mobile robots for real world tasks such as search and rescue missions. Soft robots provide safer interactions with humans when compared to traditional rigid robots. Additionally, soft robots often contain more degrees of freedom than rigid ones, which can be beneficial for applications where increased mobility is needed. However, the limited number of studies for the autonomous navigation of soft robots currently restricts their application for missions such as search and rescue. This paper presents a path following technique for a compliant origami crawling robot. The path following control adapts the well-known pure pursuit method to account for the geometric and mobility constraints of the robot. The robot motion is described by a kinematic model that transforms the outputs of the pure pursuit into the servo input rotations for the robot. This model consists of two integrated sub-models: a lumped kinematic model and a segmented kinematic model. The performance of the path following approach is demonstrated for a straight-line following simulation with initial offset. Finally, a feedback controller is designed to account for terrain or mission uncertainties.","PeriodicalId":41412,"journal":{"name":"Mechatronic Systems and Control","volume":"27 1","pages":""},"PeriodicalIF":0.6,"publicationDate":"2019-11-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"82240237","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
We study the dynamic engine-generator optimal control problem with a goal of minimizing fuel consumption while delivering a requested average electrical power. By using an infinite-horizon formulation and explicitly minimizing fuel consumption, we avoid issues inherent with penalty-based and finite-horizon problems. The solution to the optimal control problem, found using dynamic programming and the successive approximation method, can be expressed as instantaneous non-linear state-feedback. This allows for trivial real-time control, typically requiring 10–20 CPU instructions per control period, a few bytes of RAM, and 5–20 KiB of nonvolatile memory. Simulation results for a passenger vehicle indicate a fuel consumption improvement in the region of 5–7% during the transient phase when compared with the class of controllers found in the industry. Bench-tests, where the optimal controller is executed in native hardware, show an improvement of 3.7%, primarily limited by unmodeled dynamics. Our specific choice of problem formulation, a guaranteed globally optimal solution, and trivial real-time control resolve many of the limitations with the current state of optimal engine-generator controllers.
{"title":"Optimal Transient Real-Time Engine-Generator Control in the Series-Hybrid Vehicle","authors":"Jonathan Lock, Rickard Arvidsson, T. McKelvey","doi":"10.1115/dscc2019-8964","DOIUrl":"https://doi.org/10.1115/dscc2019-8964","url":null,"abstract":"\u0000 We study the dynamic engine-generator optimal control problem with a goal of minimizing fuel consumption while delivering a requested average electrical power. By using an infinite-horizon formulation and explicitly minimizing fuel consumption, we avoid issues inherent with penalty-based and finite-horizon problems. The solution to the optimal control problem, found using dynamic programming and the successive approximation method, can be expressed as instantaneous non-linear state-feedback. This allows for trivial real-time control, typically requiring 10–20 CPU instructions per control period, a few bytes of RAM, and 5–20 KiB of nonvolatile memory. Simulation results for a passenger vehicle indicate a fuel consumption improvement in the region of 5–7% during the transient phase when compared with the class of controllers found in the industry. Bench-tests, where the optimal controller is executed in native hardware, show an improvement of 3.7%, primarily limited by unmodeled dynamics. Our specific choice of problem formulation, a guaranteed globally optimal solution, and trivial real-time control resolve many of the limitations with the current state of optimal engine-generator controllers.","PeriodicalId":41412,"journal":{"name":"Mechatronic Systems and Control","volume":"5 1","pages":""},"PeriodicalIF":0.6,"publicationDate":"2019-11-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"86401128","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
This paper introduces a novel wearable full wrist exoskeleton designed for the alleviation of tremor in patients suffering from Parkinson’s Disease and Essential Tremor. The design introduces a structure to provide full observation of wrist kinematics as well as actuation in wrist flexion/extension and radial/ulnar deviation. To examine the feasibility of the design, the coupled dynamics of the device and the forearm is modeled via a general multibody framework. The dynamic analysis considers human motion, wrist stiffness, and tremor dynamics. The analysis of the model reveals that the identification of the wrist kinematics is indispensable for the controller design. Nonlinear regression based on the Levenberg-Marquardt algorithm has been applied to estimate the unknown parameters in a kinematic structural function designed to approximate the wrist kinematics, which leads to the construction of the control system framework. Finally, several simulation cases are demonstrated to conclude the study.
{"title":"On the Dynamics and Control of a Full Wrist Exoskeleton for Tremor Alleviation","authors":"Jiamin Wang, O. Barry, A. Kurdila, S. Vijayan","doi":"10.1115/dscc2019-9118","DOIUrl":"https://doi.org/10.1115/dscc2019-9118","url":null,"abstract":"\u0000 This paper introduces a novel wearable full wrist exoskeleton designed for the alleviation of tremor in patients suffering from Parkinson’s Disease and Essential Tremor. The design introduces a structure to provide full observation of wrist kinematics as well as actuation in wrist flexion/extension and radial/ulnar deviation. To examine the feasibility of the design, the coupled dynamics of the device and the forearm is modeled via a general multibody framework. The dynamic analysis considers human motion, wrist stiffness, and tremor dynamics. The analysis of the model reveals that the identification of the wrist kinematics is indispensable for the controller design. Nonlinear regression based on the Levenberg-Marquardt algorithm has been applied to estimate the unknown parameters in a kinematic structural function designed to approximate the wrist kinematics, which leads to the construction of the control system framework. Finally, several simulation cases are demonstrated to conclude the study.","PeriodicalId":41412,"journal":{"name":"Mechatronic Systems and Control","volume":"138 6","pages":""},"PeriodicalIF":0.6,"publicationDate":"2019-11-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"72444175","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Sliding mode controllers (SMCs) are well-known nonlinear control techniques. The design of a SMC involves the selection of a sliding mode surface and reaching law. The constant, exponential, and power rate reaching laws are the most widely used. Selecting a reaching law is often based on the desired reaching time; that is how fast the state trajectory approaches the switching manifold. However, the selection of a reaching law does not only affect the reaching time (tr) but also other design specifications such as the settling time (ts), overshoot (Mp), and tracking error (JIAE). Indeed, the design of a closed-loop system usually involves multiple and often conflicting objectives. Therefore, a multi-objective optimal design approach that takes into consideration all the design requirements should be adopted. Furthermore, a systematic study is needed to evaluate and compare the performance of a SMC controller under these reaching laws in multi-objective settings. To this end, the problems of designing a PID (Proportional-Integral-Derivative) sliding mode controller applied to linear and nonlinear dynamic systems using the three reaching laws are formulated as multi-objective optimization problems (MOPs). The objective space includes tr, Mp, ts, and JIAE and the parameter space consists of the design gains of the reaching laws and the sliding mode surface. The non-dominated sorting genetic algorithm (NSGA – II) is used to solve the optimization problem. The solution of the MOP is a Pareto front of optimal design points. Therefore, comparing three Pareto fronts is not a straightforward task. As a result, sections of the Pareto fronts that satisfy some legitimate constraints on the objective space are extracted. Then, a comparison among these sections is conducted graphically. The results show that the exponential rate reaching law outperforms the other two laws in most of the objectives under investigation.
{"title":"Multi-Objective Optimal Design of a PID Sliding Mode Controller With Three Different Reaching Laws","authors":"Xiaotian Xu, Y. Sardahi, Almuatazbellah M. Boker","doi":"10.1115/dscc2019-8990","DOIUrl":"https://doi.org/10.1115/dscc2019-8990","url":null,"abstract":"\u0000 Sliding mode controllers (SMCs) are well-known nonlinear control techniques. The design of a SMC involves the selection of a sliding mode surface and reaching law. The constant, exponential, and power rate reaching laws are the most widely used. Selecting a reaching law is often based on the desired reaching time; that is how fast the state trajectory approaches the switching manifold. However, the selection of a reaching law does not only affect the reaching time (tr) but also other design specifications such as the settling time (ts), overshoot (Mp), and tracking error (JIAE). Indeed, the design of a closed-loop system usually involves multiple and often conflicting objectives. Therefore, a multi-objective optimal design approach that takes into consideration all the design requirements should be adopted. Furthermore, a systematic study is needed to evaluate and compare the performance of a SMC controller under these reaching laws in multi-objective settings. To this end, the problems of designing a PID (Proportional-Integral-Derivative) sliding mode controller applied to linear and nonlinear dynamic systems using the three reaching laws are formulated as multi-objective optimization problems (MOPs). The objective space includes tr, Mp, ts, and JIAE and the parameter space consists of the design gains of the reaching laws and the sliding mode surface. The non-dominated sorting genetic algorithm (NSGA – II) is used to solve the optimization problem. The solution of the MOP is a Pareto front of optimal design points. Therefore, comparing three Pareto fronts is not a straightforward task. As a result, sections of the Pareto fronts that satisfy some legitimate constraints on the objective space are extracted. Then, a comparison among these sections is conducted graphically. The results show that the exponential rate reaching law outperforms the other two laws in most of the objectives under investigation.","PeriodicalId":41412,"journal":{"name":"Mechatronic Systems and Control","volume":"27 1","pages":""},"PeriodicalIF":0.6,"publicationDate":"2019-11-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"73960122","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Publisher’s Note: This paper was selected for publication in ASME Letters in Dynamic Systems and Control. https://www.asmedigitalcollection.asme.org/lettersdynsys/article/doi/10.1115/1.4046610/1075844/Combining-Reachability-Analysis-and-Importance
{"title":"Combining Reachability Analysis and Importance Sampling for Accelerated Evaluation of Highly Automated Vehicles at Pedestrian Crossing","authors":"Xinpeng Wang, H. Peng, Ding Zhao","doi":"10.1115/dscc2019-9179","DOIUrl":"https://doi.org/10.1115/dscc2019-9179","url":null,"abstract":"\u0000 Publisher’s Note:\u0000 This paper was selected for publication in ASME Letters in Dynamic Systems and Control.\u0000 https://www.asmedigitalcollection.asme.org/lettersdynsys/article/doi/10.1115/1.4046610/1075844/Combining-Reachability-Analysis-and-Importance","PeriodicalId":41412,"journal":{"name":"Mechatronic Systems and Control","volume":"23 1","pages":""},"PeriodicalIF":0.6,"publicationDate":"2019-11-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"74796849","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
In this paper, a distributed algorithm with obstacle avoidance capability is presented to deploy a group of ground robots for field-based agriculture applications. To this end, the field (consisting of many plots) is first modeled as a directed graph, and the robots are deployed to collect data from some important areas of the field (e.g., areas with high water stress or biotic stress). The key idea is to formulate the underlying problem as a locational optimization problem and then find the optimal solution based on the Voronoi partitioning of the associated graph. The proposed partitioning method is validated through simulation studies, as well as experiments using a group of mobile robots.
{"title":"Agricultural Field Coverage Using Cooperating Unmanned Ground Vehicles","authors":"S. Faryadi, Mohammadreza Davoodi, J. M. Velni","doi":"10.1115/dscc2019-8992","DOIUrl":"https://doi.org/10.1115/dscc2019-8992","url":null,"abstract":"\u0000 In this paper, a distributed algorithm with obstacle avoidance capability is presented to deploy a group of ground robots for field-based agriculture applications. To this end, the field (consisting of many plots) is first modeled as a directed graph, and the robots are deployed to collect data from some important areas of the field (e.g., areas with high water stress or biotic stress). The key idea is to formulate the underlying problem as a locational optimization problem and then find the optimal solution based on the Voronoi partitioning of the associated graph. The proposed partitioning method is validated through simulation studies, as well as experiments using a group of mobile robots.","PeriodicalId":41412,"journal":{"name":"Mechatronic Systems and Control","volume":"269 1","pages":""},"PeriodicalIF":0.6,"publicationDate":"2019-11-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"77179278","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
We present a new methodology for designing a heat exchanger that explicitly considers both static and transient performance characteristics. The proposed approach leverages 1) a highly detailed, albeit static model that captures the complex nonlinear relationship between heat exchanger geometry and heat transfer coefficients, and 2) a reduced-order dynamic model of the heat exchanger that approximates the geometry detailed in the static model. In order to optimize the component design for both static and transient performance metrics, pole locations of the corresponding linearized model are penalized in the cost function of the proposed optimization algorithm in order to move dominant poles further into the left half complex plane. Through a simulated case study for a shell and tube heat exchanger, we demonstrate how the proposed algorithm exploits the trade off between static design metrics, including mass and footprint, and the rate at which heat is removed from the primary fluid.
{"title":"Dynamic Design Optimization for Thermal Management: A Case Study on Shell and Tube Heat Exchangers","authors":"Austin L. Nash, Neera Jain","doi":"10.1115/dscc2019-9212","DOIUrl":"https://doi.org/10.1115/dscc2019-9212","url":null,"abstract":"\u0000 We present a new methodology for designing a heat exchanger that explicitly considers both static and transient performance characteristics. The proposed approach leverages 1) a highly detailed, albeit static model that captures the complex nonlinear relationship between heat exchanger geometry and heat transfer coefficients, and 2) a reduced-order dynamic model of the heat exchanger that approximates the geometry detailed in the static model. In order to optimize the component design for both static and transient performance metrics, pole locations of the corresponding linearized model are penalized in the cost function of the proposed optimization algorithm in order to move dominant poles further into the left half complex plane. Through a simulated case study for a shell and tube heat exchanger, we demonstrate how the proposed algorithm exploits the trade off between static design metrics, including mass and footprint, and the rate at which heat is removed from the primary fluid.","PeriodicalId":41412,"journal":{"name":"Mechatronic Systems and Control","volume":"39 1","pages":""},"PeriodicalIF":0.6,"publicationDate":"2019-11-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"90648760","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
M. Krieger, Dylan Stecklair, S. Peluso, S. Stockar
The ability to combine energy sources with intermittent performance with more consistent form of power is crucial for increasing the penetration of renewable energy sources in the electricity and heat generation sector. In this scenario, district heating networks are a promising solution but, to benefit the most from this technology, control tools must be developed with the objective of optimizing the heating load to each of the buildings in the network, while rejecting external disturbances. One of the main challenges for control design and verification is the limited access to data and experimental platforms. In addition, real systems are subjected to a large number of exogenous inputs and tests repeatability for benchmarking is a challenge. To overcome this limitation, a scaled experimental set up has been developed. This paper discusses the design of the experimental setup of a simple heat distribution network as well as the derivation, calibration and validation of a simulation model. Simulation results show that the model error in predicting temperature is always below 1 %.
{"title":"Design and Verification of a Small-Scale District Heating Network Experiment","authors":"M. Krieger, Dylan Stecklair, S. Peluso, S. Stockar","doi":"10.1115/dscc2019-9101","DOIUrl":"https://doi.org/10.1115/dscc2019-9101","url":null,"abstract":"\u0000 The ability to combine energy sources with intermittent performance with more consistent form of power is crucial for increasing the penetration of renewable energy sources in the electricity and heat generation sector. In this scenario, district heating networks are a promising solution but, to benefit the most from this technology, control tools must be developed with the objective of optimizing the heating load to each of the buildings in the network, while rejecting external disturbances. One of the main challenges for control design and verification is the limited access to data and experimental platforms. In addition, real systems are subjected to a large number of exogenous inputs and tests repeatability for benchmarking is a challenge. To overcome this limitation, a scaled experimental set up has been developed. This paper discusses the design of the experimental setup of a simple heat distribution network as well as the derivation, calibration and validation of a simulation model. Simulation results show that the model error in predicting temperature is always below 1 %.","PeriodicalId":41412,"journal":{"name":"Mechatronic Systems and Control","volume":"118 1","pages":""},"PeriodicalIF":0.6,"publicationDate":"2019-11-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"86093320","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Srivatsan Srinivasan, Matthias J. Schmid, V. Krovi
Incorporation of electronic yaw stabilization in on-road vehicles can take many forms. Although the most popular ones are differential braking and torque distribution, a potentially better alternative would be the inclusion of a controller into the steering process. However, this is not often pursued in mechanically-coupled steering systems since the controller could work against the driver’s intentions creating potential challenges to safety. The growing adoption of steer-by-wire (SbW) systems now in autonomous/semi-autonomous vehicles offers an opportunity to simplify the incorporation of such steering-controller based assistance. Most current steering-assistance systems focus either on adaptive steering control (adaptive power steering and gear ratios) or on total steering control in autopilot functions (lane keeping control). Such steering-controllers (incorporated via SbW modality) can improve driving performance and maneuverability and contribute to the overall suite of active-safety vehicle systems. In this study, we introduce a new pure-feedforward (open loop) controller for the steer-by-wire system based on the concept of reference shaping control aimed at reducing the vibration/oscillation caused in vehicles during fast (evasive) maneuvers.
{"title":"Analysis of Reference Shaping Control for Improved Yaw Stability in a Steer-by-Wire Vehicle","authors":"Srivatsan Srinivasan, Matthias J. Schmid, V. Krovi","doi":"10.1115/dscc2019-9153","DOIUrl":"https://doi.org/10.1115/dscc2019-9153","url":null,"abstract":"\u0000 Incorporation of electronic yaw stabilization in on-road vehicles can take many forms. Although the most popular ones are differential braking and torque distribution, a potentially better alternative would be the inclusion of a controller into the steering process. However, this is not often pursued in mechanically-coupled steering systems since the controller could work against the driver’s intentions creating potential challenges to safety. The growing adoption of steer-by-wire (SbW) systems now in autonomous/semi-autonomous vehicles offers an opportunity to simplify the incorporation of such steering-controller based assistance. Most current steering-assistance systems focus either on adaptive steering control (adaptive power steering and gear ratios) or on total steering control in autopilot functions (lane keeping control). Such steering-controllers (incorporated via SbW modality) can improve driving performance and maneuverability and contribute to the overall suite of active-safety vehicle systems. In this study, we introduce a new pure-feedforward (open loop) controller for the steer-by-wire system based on the concept of reference shaping control aimed at reducing the vibration/oscillation caused in vehicles during fast (evasive) maneuvers.","PeriodicalId":41412,"journal":{"name":"Mechatronic Systems and Control","volume":"46 1","pages":""},"PeriodicalIF":0.6,"publicationDate":"2019-11-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"75607821","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Predicting the diffusion of real-world contagion processes requires a simplified description of human-to-human interactions. Temporal networks offer a powerful means to develop such a mathematically-transparent description. Through temporal networks, one may analytically study the co-evolution of the contagion process and the network topology, as well as incorporate realistic feedback-loop mechanisms related to individual behavioral changes to the contagion. Despite considerable progress, the state-of-the-art does not allow for studying general time-varying networks, where links between individuals dynamically switch to reflect the complexity of social behavior. Here, we tackle this problem by considering a temporal network, in which reducible, associated with node-specific properties, and irreducible links, describing dyadic social ties, simultaneously vary over time. We develop a general mean field theory for the Susceptible-Infected-Susceptible model and conduct an extensive numerical campaign to elucidate the role of network parameters on the average degree of the temporal network and the epidemic threshold. Specifically, we describe how the interplay between reducible and irreducible links influences the disease dynamics, offering insights towards the analysis of complex dynamical networks across science and engineering.
{"title":"Contagion Processes Over Temporal Networks With Time-Varying Backbones","authors":"Matthieu Nadini, A. Rizzo, M. Porfiri","doi":"10.1115/dscc2019-9054","DOIUrl":"https://doi.org/10.1115/dscc2019-9054","url":null,"abstract":"\u0000 Predicting the diffusion of real-world contagion processes requires a simplified description of human-to-human interactions. Temporal networks offer a powerful means to develop such a mathematically-transparent description. Through temporal networks, one may analytically study the co-evolution of the contagion process and the network topology, as well as incorporate realistic feedback-loop mechanisms related to individual behavioral changes to the contagion. Despite considerable progress, the state-of-the-art does not allow for studying general time-varying networks, where links between individuals dynamically switch to reflect the complexity of social behavior. Here, we tackle this problem by considering a temporal network, in which reducible, associated with node-specific properties, and irreducible links, describing dyadic social ties, simultaneously vary over time. We develop a general mean field theory for the Susceptible-Infected-Susceptible model and conduct an extensive numerical campaign to elucidate the role of network parameters on the average degree of the temporal network and the epidemic threshold. Specifically, we describe how the interplay between reducible and irreducible links influences the disease dynamics, offering insights towards the analysis of complex dynamical networks across science and engineering.","PeriodicalId":41412,"journal":{"name":"Mechatronic Systems and Control","volume":"92 1","pages":""},"PeriodicalIF":0.6,"publicationDate":"2019-11-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"80416769","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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