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Haihong Li

Publications and source records attributed to Haihong Li.

10 recordsLinked to original sources

Periodicity-driven revision of the phase diagram of the generalized Baxter-Wu model with asymmetric complex couplings

The conventional self-dual lines of the generalized Baxter-Wu (GBW) model with asymmetric complex couplings are known to be $\sinh(2K)=\pm \cos(2ϕ)$, where $K$ and $ϕ$ are the real and imaginary parts of the coupling. We demonstrate that these lines are incomplete: the periodicity of the partition function, encoded in the cosine factor of the bundled Boltzmann weight, generates additional self-dual lines $\sinh(2K)=\pm \sin(2ϕ)$. Guided by the complete set of self-dual candidates, we perform Monte Carlo simulations using brute-force reweighting (Metropolis) and the Wang-Landau methods. Simulations indicate that the self-dual lines at the partition-function minima $ϕ_{\mathcal{Z}_{\min}}=(2n+1)π/8$ constitute a critical threshold. They are genuine critical boundaries for $|K| \ge \frac{1}{2}\operatorname{arsinh}(\cos(π/4)) \approx 0.32924$, while for smaller $|K|$ they are not. At $ϕ_{\mathcal{Z}_{\min}}$, the sign problem is most severe and finite-size scaling corrections are largest; the local peak observed below the phase boundary in the temperature scan is thus a finite-size artifact, not a genuine new phase. We further clarify the capability and limitations of the average sign and its derivatives for detecting phase transitions. In particular, the negative peak of the average sign at $ϕ_{\mathcal{Z}_{\min}}$ does not correspond to a genuine phase transition. We also evaluate the Wang-Landau method, which, despite formally circumventing the sign problem, still faces the exponential barrier.

cond-mat.str-el

Moving-Horizon Estimation and Nonlinear Model Predictive Control of Cable-Driven Soft Manipulators

Precise control of soft manipulators remains challenging due to the difficulty of developing accurate yet computationally tractable models for model-based estimation and control. Reduced Cosserat-rod models provide a physics-based and control-oriented description of soft-robot dynamics, offering an explicit alternative to purely data-driven input-output representations. In this paper, we propose a moving-horizon estimation (MHE) and nonlinear model predictive control (NMPC) framework for cable-driven soft manipulators based on reduced Cosserat dynamics. A smooth cable-length-driven modeling formulation is developed by approximating the complementarity relationship between cable tension and cable slackness, enabling cable-length control without direct tension sensing. Based on this formulation, an MHE method is introduced to estimate the reduced state and reconstruct the manipulator configuration from end-effector pose measurements and cable-length information. An NMPC controller is then formulated to achieve task-space control under cable-length and cable-rate constraints. The proposed framework is validated through numerical simulations and experiments. Simulation results demonstrate the effectiveness of the estimator and controller for pose and strain-related regulation on a multi-cable soft manipulator. Experimental results on a four-cable prototype further show that the proposed MHE-NMPC scheme can be implemented in real time and enables accurate end-effector position tracking through cable-length control.

cs.RO

Quantized Frequency-locking and Extreme Transitions in a Ring of Phase Oscillators with Three-Body Interactions

We report a spectrum of exotic frequency-locked states in a ring of phase oscillators with pure three-body interactions. For identical oscillators, the system hosts a vast multiplicity of stable quantized frequency-locked states without phase coherence. Introducing frequency heterogeneity broadens each quantized level into a continuous band and drives an extreme second-order transition at $Δ_c$: below $Δ_c$ the entire population locks to a collective phase velocity; above $Δ_c$ a desynchronous state emerges, characterized by strongly localized bursts on a slowly varying background. This minimal model thus establishes a new paradigm for complex synchronization landscapes arising from higher-order interactions.

nlin.PS

Piecewise Linear Strain Cosserat Model for Soft Slender Manipulator

Recently soft robotics has rapidly become a novel and promising area of research with many designs and applications due to their flexible and compliant structure. However, it is more difficult to derive the nonlinear dynamic model of such soft robots. The differential kinematics and dynamics of the soft manipulator can be formulated as a set of highly nonlinear partial differential equations (PDEs) via the classic Cosserat rod theory. In this work, we propose a discrete modeling technique named piecewise linear strain (PLS) to solve the PDEs of Cosserat-based models, based on which the associated analytic models are deduced. To validate the accuracy of the proposed Cosserat model, the static model of the conical cantilever rod under gravity as a simple example is simulated by using different discretization methods. Results indicate that PLS Cosserat model is comparable to the mechanical deformation behavior of real-world soft manipulator. Finally, a parameters identification scheme for this model is established, and the simulation as well as experimental validation demonstrate that using this method can identify the model physical parameters with high accuracy.

cs.RO

Chimera dynamics in nonlocally coupled moving phase oscillators

Chimera states, a symmetry-breaking spatiotemporal pattern in nonlocally coupled dynamical units, prevail in a variety of systems. However, the interaction structures among oscillators are static in most of studies on chimera state. In this work, we consider a population of agents. Each agent carries a phase oscillator. We assume that agents perform Brownian motions on a ring and interact with each other with a kernel function dependent on the distance between them. When agents are motionless, the model allows for several dynamical states including two different chimera states (the type-I and the type-II chimeras). The movement of agents changes the relative positions among them and produces perpetual noise to impact on the model dynamics. We find that the response of the coupled phase oscillators to the movement of agents depends on both the phase lag $α$, determining the stabilities of chimera states, and the agent mobility $D$. For low mobility, the synchronous state transits to the type-I chimera state for $α$ close to $π/2$ and attracts other initial states otherwise. For intermediate mobility, the coupled oscillators randomly jump among different dynamical states and the jump dynamics depends on $α$. We investigate the statistical properties in these different dynamical regimes and present the scaling laws between the transient time and the mobility for low mobility and relations between the mean lifetimes of different dynamical states and the mobility for intermediate mobility.

nlin.AO

Chimera states in nonlocally coupled bicomponent phase oscillators: From synchronous to asynchronous chimeras

Chimera states, a symmetry-breaking spatiotemporal pattern in nonlocally coupled identical dynamical units, prevail in a variety of systems. Here, we consider a population of nonlocally coupled bicomponent phase oscillators in which oscillators with natural frequency $ω_0$ (positive oscillators) and $-ω_0$ (negative oscillators) are randomly distributed along a ring. We show the existence of chimera states no matter how large $ω_0$ is and the states manifest themselves in the form that oscillators with positive/negative frequency support their own chimera states. There are two types of chimera states, synchronous chimera states at small $ω_0$ in which coherent positive and negative oscillators share a same mean phase velocity and asynchronous chimera states at large $ω_0$ in which coherent positive and negative oscillators have different mean phase velocities. Increasing $ω_0$ induces a desynchronization transition between synchronous chimera states and asynchronous chimera states.

nlin.AO

From collective oscillation to chimera state in a nonlocally excitable system

Chimera states, which consist of coexisting domains of spatially coherent and incoherent dynamics, have been widely found in nonlocally coupled oscillatory systems. We demonstrate for the first time that chimera states can emerge from excitable systems under nonlocal coupling in which isolated units only allow for the equilibrium. We theoretically reveal that nonlocal coupling induced collective oscillation is behind the occurrence of the chimera states. We find two different types of chimera states, phase-chimera state and excitability-chimera states, depending on the coupling strength. At weak coupling strength where collective oscillation is localized around the unstable homogeneous equilibrium, the chimera states are similar to the ones in nonlocally coupled phase oscillators. For the chimera states at strong coupling strength, the dynamics of both coherent units and incoherent units shift back and forth between low amplitude oscillation induced by collective oscillation and high amplitude oscillation induced by excitability of local units.

nlin.AO

Chimera states in nonlocally coupled phase oscillators with biharmonic interaction

Chimera states, which consist of coexisting domains of coherent and incoherent parts, have been observed in a variety of systems. Most of previous works on chimera states have taken into account specific form of interaction between oscillators, for example sinusoidal coupling or diffusive coupling. Here, we investigate chimera dynamics in nonlocally coupled phase oscillators with biharmonic interaction. We find novel chimera states with features such as that oscillators in the same coherent cluster may split into two groups with a phase difference between them at around pi/2 and that oscillators in adjacent coherent clusters may have a phase difference close to pi/2. The different impacts of the coupling ranges in the first and the second harmonic interactions on chimera dynamics are investigated based on the synchronous dynamics in globally coupled phase oscillators. Our study suggests a new direction in the field of chimera dynamics.

nlin.AO

Effects of dimers on cooperation in the spatial prisoner's dilemma game

We investigate the evolutionary prisoner's dilemma game in structured populations by introducing dimers, which are defined as that two players in each dimer always hold a same strategy. We find that influences of dimers on cooperation depend on the type of dimers and the population structure. For those dimers in which players interact with each other, the cooperation level increases with the number of dimers though the cooperation improvement level depends on the type of network structures. On the other hand, the dimers, in which there are not mutual interactions, will not do any good to the cooperation level in a single community, but interestingly, will improve the cooperation level in a population with two communities. We explore the relationship between dimers and self-interactions and find that the effects of dimers are similar to that of self-interactions. Also, we find that the dimers, which are established over two communities in a multi-community network, act as one type of interaction through which information between communities is communicated by the requirement that two players in a dimer hold a same strategy.

physics.soc-ph

A novel type of spiral wave with trapped ions

Pattern formation in ultra-cold quantum systems has recently received a great deal of attention.In this work, we investigate a two-dimensional model system accounting for the dynamics of trapped ions. We find a novel spiral wave which is rigidly rotating but with a peculiar core region in which adjacent ions oscillate in anti-phase. The formation of this novel spiral wave is ascribed to the novel excitability reported by Lee and Cross. The breakup of the novel spiral wave is probed and, especially, one extraordinary scenario of the disappearance of spiral wave caused by spontaneous expansion of the anti-phased core is unveiled.

nlin.CD